Counseling forces people to address issues that they normally wouldn't. My FI and I weren't happy campers after every session, but did we learn more about each other? Yes.
My FI is the type of person who doesn't want to deal with issues head on, so the counseling was hard for him at first, but he got used to it.
If people are having problems because of it, I think maybe it's because things are being said that normally wouldn't be under different circumstances.
The FI and I learned to communicate our needs, and I think that helped us the most.