No attempt to make me orgasm?

My boyfriend and I have been together 2 years. We have sex regularly, sometimes more than once a day. At night, no matter who initiates it, it always ends the same way: he cums within 3 minutes, apologizes for going so quickly, I kiss his cheek or shoulder and say it's okay and that it felt great anyway, then get up to pee. When I come back into the room he is almost asleep so I get in bed, he falls asleep, and I either lay there for hours or masturbate to porn so I can achieve orgasm as well. We have talked about it too many times to count. I get frustrated that he doesn't do more to help me climax, he gets sad that he can't make me go, and we are forever stuck in a cycle of him apologizing and saying he will get me next time. He tries occasionally, I will give him that, but his body just can't keep going once he's gone. It is really having an impact on my end of the relationship, but I don't want to hurt his feelings. I just want so badly to orgasm with him to feel that special moment and just be content and fall asleep together. But at this point I figure I'll just keep having sex with him for his sake, and later masturbate when I get the chance. It's such a sucky feeling though :/ Anyone else have this problem? Any advice?