I think it's generally a good idea for anyone to know how to change a tire even if it's appropriate to ask for help. Sometimes you just can't find it, and knowing what is needed, and where the jack and wrench life, etc. is a good plan. Wheels are heavy and not fun to change, but it can be done. If you jack the car up just as much as required, you do not have to lift the wheel much, and in the leisure of your own back yard is a good place to learn how. One thing I do always recommend is that you check the wheel lugs for tightness any time someone other than yourself has mounted wheels. The actual torque required is not huge, but some garages and the like will tighten them far too much. That's something best found out before an emergency.
If wheel tightness is an issue, it's not a bad idea to pack a better lug wrench than the default one. A cross-style wrench is not that expensive, and you can put your entire weight on it. When a cross wrench is used, the end opposite the one used can sometimes be supported on the jack, and then you can literally jump on it.
Of course these days tires rarely go flat, and this is likely a bit extreme in normal circumstances, but if you expect to be out in the boonies, or drive in the dead of night, etc., I'd practice a little, and carry a couple of extra pounds of weight.
That said, though, of course if someone is willing to help, then you'll probably make them feel good for having performed the good deed, so go ahead and ask.