Counseling careers typically require at least a master’s degree, so your undergraduate major doesn’t really matter. Psychology is a clear choice - most programs will require some prerequisite coursework in psychology. Speech-language pathologists/speech therapists also need a master’s. Most of the SLP master’s programs don’t require a specific major, but students with communication sciences and disorders majors usually have a leg up/are better prepared for the coursework.
Teaching English as a foreign language does not require any specific major, but consider learning another language so that you have experience with learning languages yourself. (Knowing the language of the region in which you want to teach would be helpful, but is usually not necessary). Education is another choice. Any major is suitable for human resources, although some employers may prefer certain majors (like business, or psychology/another behavioral science).
If you really want to be an elementary school teacher, think about it more deeply. Teachers aren’t the most highly paid professionals, but in most places they make decent middle-class salaries.