Sex advice!

I'm in a fairly new relationship with my boyfriend. Going on 3 to 4 months now. Our sex is great but I feel like I could do more initiating. The thing is, I get super nervous to initiate! I don't know why I do! I feel like I get so nervous that when I finally get the balls to do something to him first, that I end up a bit clumsy. It's totally embarrassing. I've told him I'm not great with initiating and that's always been something I had to work on (not sure if it is really because of a past experience or not) but it's still hard to overcome. I seem to be able to voice a lot better of what I want than to actually act it out. I would love to be a bit more kinky with him and just surprise him with something awesome sometime. Does anybody have any pointers as to how the heck I can overcome this nervousness before sex? When he starts things then I am totally okay with it but for me to start things it is always a little tough even though I REALLY want to do things. I feel confident in bed. I love my body. So I know it's not a self conscience thing. Just initiating sex is a hard thing for me...