Enlightening the masses

I'm doing tutorials for my second-level students today - two have come from 24 so far, and they're very clear on what to do and how to do it. This is the conundrum of teaching - the motivated ones come for help and often only need reassurance, while the people I really worry about either think they don't need help or are too worried to ask for it. 

I can understand the latter - I always stressed in private when I was an undergrad - but I'm not sure how to fix this. I don't want to make tutorials compulsory because this isn't a school and compulsion doesn't help with the wider process of their educational trajectory, and I don't want to single people out. All I can do is stress to them how available I am and that I've been through the same problems they have. Any ideas, you academic readers? 

Update: two more came, one nervous but sorted, another rather lacking in preparation. What really depressed me is the surprise registered when I used their names. It's a large institution with too many packed classes. I'd love to know them all better - it would help them ask for help when struggling, they'd feel more cared-about, but it's hard when there can be 120 or more in a lecture and 20-30 in an hour-long seminar.