With something like the Burger King example, my suggestion would be to ask the person about it when they are calm. "You were really upset with me yesterday and I am wondering what I might have done wrong or if I misunderstood the plan."

I don't think you should just, from now on and for the rest of your life, decline when people offer you to help. I think you should take them at their word and assume that when they offer to help it is because they want to help. If they have a change of heart later on that is their problem and their growth opportunity. Idon't think they typically will. And if later on something goes wrong and there is friction then I think you should discuss it with them when they are calm.