Muslims, do you consider it bida to cry out to God for help? Like if you're in some kind of severe difficulty or pain?

I don't think it would be necessary god would be watching and he would already know if he was going to do something he would without being asked

thats my take on it

"it is even recommended to call out to Allah ta'ala when making dua in tears, and to force ones self to cry"

whats the point in that why force yourself to cry accepting reality if you had to force yourself its not all that genuine now is it?

The Salah is not is a static form of ritual prayer. It begins with freshening to clear your mind and focus and enter a spiritually pure state.... it requires recital of Qur'an with thought and reflection.... it has different praises of God any of which can be said during bowing and prostatration... and supplication can also be made while standing (Dua al-Qunoot) in times of distress.... and lastly and MOST importantly:

عَنْ أَبِي هُرَيْرَةَ، أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم قَالَ ‏ "‏ أَقْرَبُ مَا يَكُونُ الْعَبْدُ مِنْ رَبِّهِ وَهُوَ سَاجِدٌ فَأَكْثِرُوا الدُّعَاءَ ‏"‏‏.‏ - Abu Huraira reported: The Messenger of Allah (ﷺ) said: The nearest a servant comes to his Lord is when he is prostrating himself, so make supplication (in this state). (Sahih Muslim).

Supplications can be in your own words or preferably the wordings of supplications used throughout Qur'an and Sunnah (not sure how you can throw out Islamic words like bida and salah to look intelligent, but end up looking foolish considering speaking to God, i.e., prayers to Him for distress and to praise Him and thank Him, are found throughout Qur'an and Sunnah).

Where on Earth did you get this notion that it is 'bida (innovation) to talk to Allah ta'ala whenever we want? I talk to Allah ta'ala a lot individually and I do call out to him for help when I need it, and it is even recommended to call out to Allah ta'ala when making dua in tears, and to force ones self to cry if possible in doing that. In fact, there are many examples in the sunnah and Noble Quran where people have cried out to Allah ta'ala in help.

So he watered (their flocks) for them; then he turned back to the shade, and said:"O my Lord! truly am I in (desperate) need of any good that Thou dost send me." (28:24 - Noble Quran)

This is a dua I make myself whenever I am in conditions of extreme hardship, it has never failed me.

A lot of prescribed dua is a direct communication between us and Allah ta'ala without any medium, I think you are confused, the Catholics are the ones who need a "medium" to repent to God and what not.

crying for your sins and pain is not bidaah

if Allah can give you the pain he can heal you only

It was narrated that Abu Hurayrah (may Allah be pleased with him) said: The Messenger of Allah said: “A man who weeps for fear of Allah will not enter Hell until the milk goes back into the udder, and dust produced (when fighting) for the sake of Allah and the smoke of Hell will never coexist.” Narrated by al-Tirmidhi and al-Nasaa’i.

“until the milk goes back into the udder” is a metaphor for it being impossible, as in the verse where Allah says (interpretation of the meaning): “and they will not enter Paradise until the camel goes through the eye of the needle” [7:40

Danny, I can think of much more enjoyable ways of getting you to cry out in tears while kneeling down on your bedroom floor =)