I have an issue letting go :(

Ok so my SO was fingering and eating me at the same time and it felt AMAZING. He had me moaning and screaming, my legs trembling, creaming on his beard, get me soaking wet and I felt this tension and pressure building up and this not too intense need to urinate.

I freaked out and made an excuse for him to stop (i.e my legs are cramping up). It was a mix of fear of letting go (idk what was going to happen) and self consciousness (I was super wet and felt loose) that made me not want to go forth.

How can I overcum (no pun intended?) this?