There's a difference between being needy and having needs. Everyone has legitimate emotional and practical needs in relationships. Communicating needs becomes problematic only when it's done through manipulation, demands, or constant complaints. Healthy communication involves expressing your needs clearly, directly, and respectfully, while also being open to your partner's perspective. If someone consistently makes you feel bad for having normal human needs, that's more about their issues than yours.
Communication & Conflict
How do I communicate my needs without sounding needy?
Communicating needs isn't needy when done clearly and respectfully; healthy relationships require both people to express their needs openly.