Virgin at 21

Hi guys.... so I’m 21 and my boyfriend and I have been together for 5 years in October. We have not slept together, we have been living together for over a year... the reason why we haven’t slept together is because I’m scared shittless. I’m a REALLY anxious person and have a ton of anxiety all the time, so everytime I think of sex I freak out. He has been the most patient person ever and I’m sooooo grateful for, but is it normal? Especially after 5 years, I always get comments like “ok then you’re basically friends not boyfriend and girlfriend” or “ you don’t love him” and I love him very much, but is it normal to be like this? Do I see a doctor? Or??? Help😫