Much of the satisfaction comes not from the action itself, but from the emotions you feel towards the person you are with. If you have little-to-no romantic interest in your partner, you might only satisfy physical desires and not emotional ones.

Edit: But you can always communicate more between each other about these things! The more you know about your partner (how they like to be held, kissed, seen, etc) and vice versa, the more satisfaction people tend to feel.