When I say connected I don't mean only through sex. Do you both feel free to openly discuss anything that's on your mind, without hesitation or any second thoughts, or do you feel some anxiety like you mentioned mentioned about talking with your counselor?
He said that made him feel bad. Well, that's not the way I meant it, I meant it to be a negative to me, like I wasn't good or something.
This says to me that you two are not communicating well and are both making assumptions.