HELP WITH BETTER SEX

I love my boyfriend of 4 years. We want to get married and have children together but I want more out of our sex life. He's never gotten me off. I get him off every single time and within 20 min. Right as he's going full force at his climax is right when things start to feel good for me. The only way I have gotten off is by myself through clitoral stimulation. But not to mention We're on different sexual levels. Im a freak and like it rough, but he is sensual, gentle and romantic. I've mentioned ideas, joked about it, and when he does something I like, I definitely make it known. but he never sticks with it. I can't flat out tell him that hes not pleasing me, he'd be hurt. But I want our sex to be as amazing as the rest of our relationship. Not sure what to do..