Reassuring my SO?

My boyfriend recently told me that he sometimes gets intimidated and embarrassed that I know more about Sex/sexual acts and have more experience. How can I reassure him that I don't care how much or little experience he has, and that the last thing I care about is him not knowing how to do something? I have tried talking to him but he still seems to think that I find it frustrating or "weird". I just want him to know that he can tell me when he doesn't know or understand and that I am more than happy to show him things.