Boyfriend won't let me touch him

The only way I am allowed to touch his penis is if I am putting a condom on him. He does not like it when I try to touch his penis or balls, they are "very sensitive". For me, I enjoy being able to explore, it is intimate and loving and I have explained my intentions but he just won't go for it. It is hindering my inner satisfaction with our intimate moments. Am I wrong? Could I look at it differently? What are your thoughts?