Heating stuff makes the atoms/molecules vibrate. When they vibrate too much to hold onto each other they start sliding around and you get a liquid. Hotter still and they just go flying off in different directions and you get a gas.
Water molecules are “stickier” and will hold onto each other at higher temperatures than gasses like oxygen. Most metal atom really like to grab onto each other and have very high melting temperature.
Helium is so inert that the individual atoms never stick to each other or anything else, and it never freezes and remains a liquid down to absolute zero (sort of – definitely not ELI5 stuff)).
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