I think you have a misunderstanding of the role a counselor plays. If we could all 'fix' ourselves from within then there would be no need for outside therapists. However, many people do not have the knowledge and understanding on how to do that. Furthermore, MOST people are unaware of the areas that need improvement, which is within the subconscious. Our actions will often reflect hidden issues that we don't catch.
A counselor is a person first. The depth of their ability to engage in meaningful therapy is partially an intellectual one and partially one of personality-that is 'clicking' with their clients. Again, people have unconscious drives and issues. If a person has a 'problem' with a parental figure and meets a counselor who unconsciously reminds them of this parent a 'transference' of emotions can occur. In that case one can walk away feeling that they don't want to see that counselor, but not necessarily understanding why.
We meet with counselors and therapists NOT for advice. In fact, a good counselor refrains from giving judgement or suggestions for the client to follow. We meet with them as a sounding board and guide. Just as any traveler on a journey needs to have some type of map, the role of the counselor is to be that map and help direct the person seeking help in searching for the answers 'within', as you have stated.
When I hear of people trying to do the work by themselves, that is great-motivation and searching for answers is a wonderful tool. But, would you expect to build something with tools that you were not sure what to do with? Books are a great source of help, but if the issues run underground one may not even be aware of what to look for.
I like to think of the analogy of fixing oneself without outside help like an electrical current. A closed electrical current goes around and around and around in the same pattern. That is how man is-we get into a grooved pattern and repeat the same thing, perhaps in a variation, but still falling into the groove. The therapist or counselor is the 'breaker' that interrupts the pattern and helps to direct the flow of traffic out into another direction.
Don't be turned off by counselors. If you had a bad experience once try to give it another chance. All counselors are not the same. Search until you click with one. Perhaps a recommendation from someone, like a doctor? They do play an important role in mental health. Best wishes to you.