The help someone needs to enter should not decide how much independence they are allowed inside.

Needing help through a door says nothing about what a person can decide once they are inside. The two get confused constantly: assistance offered at the entrance quietly becomes supervision everywhere else, and a practical need is read as a general condition. Help with access is not a licence to manage someone. Independence is the whole point of the ramp.

Once you have helped someone in, step back to the distance you would keep with anybody else. Ask before rearranging things on their behalf. Put your questions to them rather than to whoever happens to be standing beside them.