Since it’s Eli5, I won’t be answering like the other two and I’ll keep it a bit simple.
On achieving noble gas configuration, the size of the orbitals explodes a bit. In liquid state, this exploded size means less interatomic attraction (so Helium attracts Helium less than hydrogen attracts hydrogen). That’s because of the complete outer duplet. Electrons repel electrons and that’s why atomising helium is much easier. Density of helium is higher because it shows a 4 times increase in mass for a small increase in size. Atomic attractions are not affected by mass.
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