How determine how call a class XHelper or XUtils ?
To my mind :
Helper class, is a class that can be instantiate and do some business work
As Jesper said, it's entirely arbitrary. You can think of what works for your organization and make that the convention.
For me, it's something like this:
utils - Static class, that can be freely moved and imported anywhere.
Doing general tasks that could be useful in different modules. As Peter Lawrey said, more specific names are useful.
helper - Class helping another class or a module.
Tasks that are only used in the module it's placed and won't make sense to be imported elsewhere. Hence the name could be more specific - ModuleNameHelper (e.g. AdministrationHelper, LoginHelper)