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1. We should help the injured fish.
2. I may visit my cousin tomorrow.
3. Starfish must stay below the surface.
4. I shall eat shrimp for dinner tonight.
5. My friends and I were swimming when a shark attacked us.
6. Jack can jump out of the water.
1. We should help the injured fish.
2. I may visit my cousin tomorrow.
3. Starfish must stay below the surface.
4. I shall eat shrimp for dinner tonight.
5. My friends and I were swimming when a shark attacked us.
6. Jack can jump out of the water.
Yes, they are helping/auxiliary verbs.
In addition, all but #5 are modal (auxiliary) verbs.
helping verbs 
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