How Do I Get Confident?!

I've always kind of faked my way through the whole dominating thing and showing off my body to my bf in bed, but I still can't find the guts to really feel confident with myself, whether I'm in a regular bra/panty set or fancier lingerie! How do I find the perfect thing to help me get there? I know he LOVES when I'm confident in myself and can really let loose, I just haven't been able to get there! (Not his fault at all! And we've been together for years)