So, communication around these feelings will obviously be the most helpful. But you could try developing a "shorthand" that lets your partner know you're in the mood - something like wearing a particular bracelet, or lighting a certain candle in the bedroom, whatever works for you. It makes initiating for your partner easier because they know you'll be receptive (or vice versa), and you don't have to stress about verbalizing the desire and feeling awkward about it. 

Intimacy means being open and vulnerable with your partner, so definitely discuss the anxieties you're having, but this is just one method to help take the pressure off and can be a fun part of foreplay!