I sought the LORD, and He answered me, and delivered me from all my fears. 6 This poor man cried, and the LORD heard him and saved him out of all his troubles. 7 The angel of the LORD encamps around those who fear Him, and rescues them.
Psalm 34 was written by David after his run-in with Achish, the king of Gath. David was on the run from Saul and ran to the Philistines, enemies of King Saul. however, when he got to the court of Achish, some of his servants recognized David and pointed him out to their king. David overheard those words and grew afraid. However, unlike the first couple of verses, it isn’t recorded in the bible that David asked for help when he was faced with recognition.
What David did next was pretty unique in defense tactics. He pretended to be insane, letting himself drool on his beard, scratching at the gate doors, and just letting himself go. This action does not seem to in accordance with the psalm that he wrote pretty soon after. However, what he speaks about is true. The Lord does listen to the prayers of His people, and answers them according to His plan. He keeps those who cry out to Him safe. Even when they try to take care of themselves, it is still part of His plan.
The bottom line is that the Lord will take of us. Even when we don’t consciously ask for His help, He keeps us safe during our trials and tribulations.