One reason terrestrial planets have less hydrogen and helium is these gasses float away into space. Planets’ and moons’ gravity isn’t strong enough to hold them.
[This chart shows which gasses various planets and moons can hold.](https://physics.stackexchange.com/questions/615311/what-is-this-atmospheric-escape-chart-actually-showing). Gasses below planets or moons can be held by gravity. Gasses above planets and moons float off into space.
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