"Offer" here essentially means provide. So whether he is prompted or not, whether he says anything or not, if Sam provides any kind of help then he would fail in achieving his goal. "Help" in this case means any sort of aid that may improve someone's situation — so healing, fighting alongside someone, getting them out of harm's way, etc. In terms of information sharing, if the information Sam provides is beneficial, it would count as help. However, if it's bad news, then that wouldn't count.

Hope this helps!