I want to help people, but on a personal level; how could I do this?

You could phone your local day centre or hospice and see if they need any volunteers. Or, if you have a dog or cat of suitable temperament and age, you could become a Pets As Therapy volunteer - I do this and we visit two residential homes in the area. I've got to know the residents well and it's very satisfying visiting. PAT dogs and cats visit all sorts of places; schools, day centres, hospitals, hospices, residential homes - no religious affiliation needed!