In my role, today, as a junior counselor - have you considered that what your family does is try to pull guilt trips on you? They can’t make you feel guilty without your own assistance.
What they can, and may well, do is remind you of patterns of thought where you ended up, in the past, accepting the responsibilities that they want you to accept.
It sounds like you’ve gotten to the point of realizing that they’re using this technique to manipulate you, but that you’ve not gotten to the point of recognizing that it will only work if you let it work.
Before I go any further, let me say that I am familiar with the guilt trip. My father’s mother - my Jewish grandmother (who was, I daresay, the model for the Jewish grandmother in all the jokes) - was a past master of the guilt trip. I say past master because she started using a bit too much on my father and he broke that control. So when she started to try to use it on my sister and myself, we had his example of how to keep from letting her run our lives that way.
In my experience, the way that a guilt trip works is usually the one trying to use it on someone else will begin by pointing to a failure or favor that the person being tripped may or may not have done. At which point, the trippee (if you’ll let me use that term) is supposed to feel a need to make amends. Which is a normal and healthy reaction.
The problem with guilt trippers, IMNSHO, is that they never allow the offered amends to be enough. A guilt trip is emotional blackmail. And like any other kind of blackmail - you’ll never be able to pay it off enough to make it go away.
It’s probably impossible to keep you from feeling guilty for things you’ve done, or from feeling indebted to your family. But, in part because family debts cannot be completely repaid, it’s unreasonable to have someone using that as a reason to do force people into doing things.
When someone tries to guilt trip you, take a breath, and separate the two parts of the guilt trip: Accept the blame, or the debt, that they’re trying to remind you of (assuming it’s a legitimate blame or debt, of course.); and then consider what they’re trying to get you to do. Do it or not, as you choose. Do not do it in an effort to make amends for the debt that they’re trying to bring up.
For that matter, I ended up taking a certain perverse pleasure in telling my grandmother “You’re right. That was a bad thing I did. What does it have to do with what we’ve been talking about, though?”
Most guilt trippers never want to make the implied exchange explicit - in part because it would imply that you could make amends. Which they don’t really want to allow. 
On preview: Captain Amazing - it sounds like you’ve got a healthy family dynamic going. And a recognition that family obligations are still two-way. (Even if you’re now doing more of the giving than you had been when you were younger.) There are families where that’s not the case. Where it’s all supposed to be one way, in service of one person, or one couple, damn the cost to anyone else.
It’s a mistake, I think, to assume that all families are going to be like your own.
As for the counseling issue - even if it’s only a discipline problem, counseling can still be very beneficial. One of the major components of counseling in a situation such as the one that Anaamika describes is that the counselor will often set up a communication between the parents and the child, while acting as a moderator. Ideas and concerns that often can’t be expressed in the normal family dynamic can come out there, in a controlled manner.
I’m not trying to say that counseling is a magic bullet that will cure everything. Just that it can be used in conjunction with other more traditional parenting methods.