24 year old Virgin

My boyfriend and I have been dating for almost 3 years, he has slept with other people before me.. But I'm a virgin. We do oral and masturbate each other but not penetration sex. I'm not waiting for marriage, I feel like I'm waiting for him. I have never told him that I am a virgin. And now that so much time as passed I'm not sure that he would believe me. Haha. I never mentioned it to him because in past relationships it has been a big deal to guys whether they are totally interested in "popping my cherry" or totally turned off and "wanting me to save myself for my future husband." 
I am horny all the damn time and I want my man to take control!
I know that I need to tell him, maybe that's all we've been waiting for. In the past I've tried to instigate having sex with him, but we were either too tired or could not get a good position and he couldn't stay hard. 😞
I love him and I WANT. I NEED. To have that physical connection with him. Advice?