Yes, expecting others to do your bidding without first giving something up for them is selfish. There are a lot of people like that too. "If you love me (or respect me), you'll do xxxxx." The problem is, if you ask them to do something, then they don't have the time. But they'll accuse you of being selfish. It's a psychological game people play, and the right thing to do is call them on it.
Yes, when there is balance in a relationship you don't see this kind of manipulation very often. Compromise is fine if both agree. But when the energy (giving) flows only one way the balance is off.
With exceptions of course, caring and giving to children and the elderly isn't as clear cut. But between adults I believe if you feel you're being taken advantage of you should pay attention because you likely are.