Awkward Boyfriend

So I have been with my boyfriend for about 4 years. We split up when I went off to college but recently got back together when I moved back home for some personal reasons. During the time we weren't dating I did date some other guys and I was intimate with them. Now that I have experienced that i very much like that side of a relationship. But my boyfriend now is a very awkward guy, he has always been. Even when we dated in the past we weren't a very PDA couple and it kinda drove me nuts. I talked to him about it recently and he said that he was frustrated with the situation as well. He said that he would like to be more intimate but is not sure to get over the awkwardness. I feel really bad about the situation because I'm the only girl he's ever kissed or anything like that but he's not my only. Please help. I don't know what to do.