It really does depend on whose house I am in and how close I am to those people. Usually, I will go in the kitchen, ask if theres anything I can do and just help out OR if I know someones struggling then I will offer to do the dishes or whatever.
When people come to our house, its sweet when they insist on helping and some do, others we tell to leave it and they RUN to go sit back down
It doesn't really matter to be honest, because we have enough hands in the kitchen anyway alhumdulillah.. but yeah, it is nice when they want to do it.