How to become sexually comfortable with one self and with a partner?

Me and my boyfriend have been together for close to two years now and we've been having sex for a while, however, I have not been able to be completely comfortable with him when it does occur and I'm not sure why. I don't pleasure myself much on my own due to living at home and I think that it's difficult for me to figure out and tell him what I want.

When it comes down to the actual act, I feel I'm not being pleased enough during foreplay and I feel I'm always pleasing him and it makes me feel like shit because I feel I dont get much enjoyment.

I'm not sure what to do because I feel we're both frustrated as we don't know what to do to better the situation