Can people get better at sex?

Is sex supposed to come naturally between two people? In the past, I've had both good and bad sex. With my current boyfriend... it's average. But I want it to be GOOD, if I'm going to spend the rest of my life with him. I've never had to really teach anyone to be better at sex. All the bad encounters were one night stands. Does anyone have any experience with improving their sex life? Can it really happen or are some people just not sexually compatible?

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