Scared of using the bathroom at my boyfriend's house...

I have social anxiety and every time i go over to my boyfriend's house i avoid using the bathroom when his parents are home. It's just awkward, so he walks me to the bathroom. I don't want to have to be dependent on him just so i can walk to the bathroom. He wants me to be more independent and start walking to the bathroom by myself and start getting food or drinks by myself as well. I don't know how I'm supposed to explain it to him. He knows that i have social anxiety. What should i do?