All my bfs have never been able to make me cum

I’ve never experienced sex with cuming without rubbing myself no one I’ve been with has ever made me cum not off head or anything the only time I can is when I do it myself I’m not sure what I’m doing wrong or even what can make me cum during sex my bf is the only one who cums and when I put my hand down there to make myself cum he tells me “ is my dick not good enough “ or asks me why I have my hand down there . I don’t want to embarrass him and tell him he doesn’t satisfy me I just satisfy him and that’s it