How can I overcome unnecessary nerves when asking for help and gain mature technical thinking after completing POC?

Recently I completed my first-ever proof of concept (POC). I got positive feedback, but I think it's because the manager understands that I am doing this independently for the first time. After giving credit for my work, one senior member broke down the task into smaller pieces with step-by-step technical sources (from blogs), which made my life much easier. Now when I am re-evaluating this now, I observe the following:

• I tried not to bother senior/TL for help since I didn't want to interrupt their sprint commitment. Even though they are supportive, I couldn't help but feel nervous because I am the engineer with the least experience (i.e., others are either senior or principal level or the same level but have a much broader knowledge domain).
• After receiving the breakdown plan with the easy-to-follow resources, I am much more comfortable tackling the tasks. If possible, I very much want to be able to break down a bigger POC into smaller pieces and tackle each in order.

Since it's likely to have more POC shortly, and I am sure I will face this situation, I want to overcome the nerve and ask the right amount of questions (not too much, but good enough to unblock me) during growth along the POC task.

Thanks ahead for your sharing!