Don’t know if I have technically orgasmed from sex?

Whenever my boyfriend and I have sex, it feels amazing and super intense and I feel like I get close but I don’t get the same release from an orgasm I get through masturbating. I don’t know if I’m orgasming and it’s just a different feeling than one from masturbating, or I’m not finishing. I do feel satisfied after we finish, but I’m just confused about it.