You want your sex life to be better! What's wrong with that?
I'd say it's a matter of not being afraid. Out with it! Get it out in the open. Just not when you're in bed.
1) Many men find it easier to talk about "difficult" subjects if they are doing something else at the same time. Something to divert those awkward eye contacts at difficult moments; a way to burn up a little energy if they feel tensed or stressed by the subject matter. So if there's a private place where you can do so and have this conversation and not be overheard, get him outside for a walk. Or even a car trip. Easing into this in the context of something else will make it easier for him.
2) If you really just can't get up the courage to come out with it directly in conversation, then consider writing him a note. Doesn't have to be detailed or fancy, just honest. And really it could just be a matter of writing for him what you've written for us.
Many many women don't have orgasms through intercourse unless there's some manual stimulation involved as well. That's just the way it is, and it's nothing your husband should feel is "his fault" any more than failure on his part to get an erection at times or instances where he ejaculated prematurely would be "your fault." The human body is not perfect and sex in real life doesn't work like it does in the movies. That's where understanding and acceptance and the ability to laugh at rather than agonize over "things gone not quite right" can be very helpful.
P.S. A doggie style rear entry position which allows him to simultaneously give you some manual stimulation might work wonders....
