If axioms are assumed to be true (although I have read that nowadays they are used as logical premises and their self-evident nature is a 19th-century idea), then how do we know that they are true, other than through our intuition (i.e. subconscious judgements)? Axioms are assumptions and even though they may (I am not sure about this but I think someone verified some of Euclid's axioms) be verifiable, the people who first proposed them did not logically decide them but felt that they were obvious truths.
Any help would greatly be appreciated.
Axioms define your language. If you think of mathematics as a way to organize structure, or a language of reason, then your axioms define how this language works. You can in principle imagine all kinds of axioms -- but only the intuitive ones will yield an language that can be used in intuitive ways.
And I would claim that if you e.g. want to do physics with this mathematics, so have a connection to the real world, intuition will be necessary to some extent. Even more basic, things like the natural numbers and addition coinciding with our way of counting objects are not a coincidence, of course: The language is built this way by using the right practical, intuitive axioms.