Most definately there are counselors who can help with your BPD. Mine is trained in dialectical behavioral therapy (DBT). I do individual counseling & group therapy for DBT.
In DBT you are sort of re-trained on interpersonal skills & things. You learn to think before you act, you learn to make better decisions, you learn how to say what you want and get what you want.
I have been active in DBT for over a year now. My life has improved sooooo much. I can see it, my closest friends and family can see it. I don't get nearly as angry as I used to get, I don't cry as much as I used to cry. My emotions are better controlled. There is hope. I swear.
You need a counselor who is trained in DBT for BPD. Not many are trained to do this, so you need to be sure your counselor is.
I just wanted to write in response to your question that yes, counseling has really helped, along with DBT.