Honeypot has an excellent point here. My H and I avoided talking about our R seriously...because we were afraid of what the other would do if we said something he/she didn't like. You can't maintain a R that way.
The only way to deal with these issues is bring them out and talk about them....the only way you and your H will get around being uncomfortable talking about these issues is to .... (drum roll please) talk about them.
It's taken time (and I think Honeypot will say the same thing) but eventually your H will learn to talk about these issues (if he wants to stay married to you) with you and you with him. He may never become comfortable talking about sexual issues with you...but he will get to the point that he will do it. Keep in mind though it takes, consistency & repitition, consistency & repitition, consistency & repitition, over and over again. You will probably have to be the one to continually bring the issues up....if that's the case, so be it...as long as they are discussed.