Why do I get mad when someone tries to help me?

It's usually with my fiance, but anytime he tries to help me, I get upset and mad because he gets involved in whatever I'm doing and gets in the way a little bit. There's also an instance where I need help and he doesn't help. Lately, it's just been that he tries to help, and he is trying to be helpful and being nice and I appreciate it, but then it just ends up feeling like he's in the way, he's not asking what I need help with, and then he just assumes that whatever I'm doing or whatever's around me is what needs helped with. He also does things that I didn't ask him to do which results in me getting more upset because he doesn't ask me.

An example of this was when I was getting my stuff out of his car after coming home from a day together. He didn't hand me my keys which were on the driver side (I drove to the location and he drove back so I put my keys in the door since they have my house keys and other keys I may need). And then he was trying to get my backpack, which I get, but then I went to go get it since it was on the other side of the car. I had to put my wallet back in it anyways. I got it, and then I was trying to grab a pair of shoes and then as I was reaching in, he started closing the door instead of asking if I was done. (This was a thing one time when I was watching a YouTube video and I was watching an ad for a movie. He skipped the ad, after checking something on his Xbox, without asking me and then got mad that I got upset and it started a big huge fight. I even told him that he didn't ask and if I wanted to skip it, I would have skipped it already. He wasn't even watching the video, he was on his phone).

So I was upset about this last night, and he brought it up today that he was upset that I was like that last night. I have an issue with him helping without asking because while I appreciate him trying to help, he does it in a way that's not really helpful and he doesn't ask.