NSFW - Can't satisfy himmmm

I know my boyfriend loves me and we've been going out for over a year now. He always says I'm sexy and pretty and stuff and when we even just kiss he very clearly gets turned on. But here's the thing that always leaves me feeling so crappy about myself. I hate being TMI but ugh I need an outsider opinion. We tried having sex, he couldn't uhh keep it at attention? And whenever we have an intense makeout and I do stuff to pleasure him, he has never finished unless he was doing self-service if you know what I mean? He realizes this too and says it isn't my fault and he feels bad and I don't want him to feel bad but I feel so sad at the end of our more hardcore makeouts, feeling like I'm not doing good enough, that I'm just messing up. He doesn't say it or make me feel like it, in fact Everything he does and says tells me I have nothing to worry about... he always is so so perfect and sweet and loves me so hard, but like it breaks my heart that Ive never been able to personally make him orgasm from something I was doing to him after dating over a year and it's so embarrassing and just makes me so so sad because this is my first time dating someone and I just am so scared that I'm screwing this all up or that he subconsciously isn't physically attracted to me or something?