Can't cum without rubbing my clit.

I've been having sex for just over 2 years, and ive been with my current boyfriend for a year and three months. Not once have I EVER came from just sex. I'm very very attracted to my boyfriend , I'm very comfortable with him. The sex feels amazing!! We are into bdsm, and have tried a lot of things. But I have to rub my clit in order to cum, I feel bad , I don't want him thinking he's not doing a good job. Any tips on how to cum without helping myself? Is this even normal ? 😩