Is it normal to always feel like a burden?

I have this ridiculous problem where I feel as if I'm being a burden to someone if they are with me.

I will do whatever they want to do if I'm with them, following along meekly and accompanying them on their shopping trips or what not, but when it comes a time for me to decide, I just can't decide on what to do without feeling as if they don't want to come along! Even if they say they don't mind.

I hate this frame of mind I possess. I can't even decide on where we should go and have lunch because I'm afraid if I pick a choice, the other person will say: "Okay let's go there" but they secretly wanted to go to option B and will be resentful about it.

I absolutely hate shopping with other people sometimes because I feel they will think I'm wasting their time. I try to be super fast (even to the point of not trying on anything if I need to buy a shirt for example) and just going by my instinct on clothing size/colour coordination just so I can stop wasting their time.

I also worry that people will hate coming to my birthday parties because it's towards the end of the year and everybody else has already had theirs and can't be bothered coming to mine because they are "all partied out".

When it comes to sexual matters, if a partner asks what I want him to do, I say: "Whatever you're comfortable with" every time. Or if he asks me what position I'd like him to be in when I give him head so I can be comfortable (he's very considerate), I'll say: "Whatever is best for you."

I feel extremely silly for thinking these thoughts all the time. Is anybody else like this? I know I should grow a backbone and that is easy to say but when you've had this issue your entire life it takes a while to snap out of it. I am getting better at saying my mind but it's taking time of course.