Finishing

Cumming/coming is great when I do it by myself, but when someone else is involved, I can never get there. I always have a lingering feeling that I need to be pleasing them rather than recieving pleasure and quite frankly, I love being the one giving rather than recieving.
How am I supposed to relay this to a sexual partner, or how should I get to a position where I can be sexually pleased by someone else?