Your counselor is right,you don't have to see people you don't want to...I just told my aunt,who's a lush,that i didn't ever want to see her again as long as she comes to visit when she's been drinking and smoking(which is most of the time). I told her that's the best part about being an adult..is the ability to say NO! and mean it..and NO ONE can make you do anything otherwise.
You don't have a "duty" to subject yourself to an uncomfortable situation,i look at it like this: If people want to be around me,they know what i like,and what i don't....they know what i tolerate,and what i don't..therefore,if they want me to be present,then they will ensure that i'm not discomforted in any way when i'm present...it's a mutual thing,i won't discomfort them with my"stuff" and they won't discomfort me with theirs
You have to also learn how to "tactfully excuse yourself" from uncomfortable situations,don't get mad,just let people know where your boundaries are..over time they will learn,they just need training most of the time. You have to understand,as well as your folks,that sometimes people have to go separate ways,it's not that you don't love them anymore,or vice versa..it just means that you have another direction,that you've decided is best for you..not what they happen to think is best for you. One thing's for sure...If you try to please everyone,in the end,you will be the only unhappy person around..everyone else will be content because they'll have what they want.
My mother was shocked when i told her what i believed,or rather didn't belive anymore..she tried "witnessing" to me,at which point of reversed her argument,and inverted it..the very same technique i used to use in field service..i concluded the conversation by telling her i didn't want to hear of anymore "hall talk" and she wouldn't hear anymore"blasphemy" as long as i didn't,we still talk,but she understands where i'm at on that,so there's no problem.
I'm still her son..the same as i've always been,the only difference is...i think COMPLETELY for myself now..it's that simple