Do some people really find the command line so difficult to use?Yes. Very yes. To the point where, when you say "some people", what you really mean is "most people".
I don't think the problem is "the command line" so much as it is "the Unix command line". You don't see a lot of people having difficulty with text-adventure command lines. You demonstrate HELP and GET LAMP and they're off to the races.
Whereas Unix commands are hard to discover unless you already know their names, have illogical names, have inconsistent behaviors, have poorly designed documentation (every command has 27 options and they're often documented in alphabetical order on man pages, with the obscure corner-case options given equal weight to the most useful ones), require combinatoric thinking (because many options can be used at one time), take invisible actions ("gzip foo" returns no output and modifies a file in your current directory; you need "ls" to see that it did anything), are context-dependent (you need to know what a "working directory" is or you won't get past square one), and often require a working knowledge of pipes and redirection to be useful (and pipes and redirection aren't intuitive skills).
You need to read a book. Nobody has time to read books. Reading books is a bicycle activity.