Wish is the correct term here, because Angeal certainly doesn't really need assistance. But if it's spending more time with Erich, he's more than fine with that, and he smacks Erich's back to show it.

"Well, if you don't have anything too much on your plate, do you want to keep shopping with me? Maybe we can trade some dinner ideas. If nothing else, focusing on the basics is a nice way to adjust to a whole new place like this, right?"