It depends. Are you blaming them or thanking them for support? During all the times when I was unhappy I could count on my family and friends.
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vutdoan I had to count on my family/friends at all times/all the time [when] I was unhappy."Had to" here shows as if you counted on the family reluctantly. Moreover "have to" implies some sort of obligation given to you. It is rarely used to express your own opinion.