If your therapist was bothered by this, she should be able to tell the difference between what your caregiver was asking and what you were (not) asking. Aside from that, it sounds like she was happy to share her dog, so I would be heartened by that if I were you. It would be good to talk about your fears, though, because it seems to be something you carry with you wherever you go--the feeling of being a burden. I hope you'll be able to shed that some day and go around feeling like a benefit, not a burden, to others.