IKt is the human condition - we aspire to do God's will for us and most of us are incapable of even wanting to be 100% in His will because our humanity makes and keeps us imperfect except for how His sacrifice made us saints in His eyes.
I recall one time at Bible study about my doubts if I was saved or not. One of the gals said “Blessed are the poor in spirit, for they will inherit the kingdom” (Or something like that). That ties in well with the “Yes I believe - help my unbelief.”