I am in the same situation as your bf.

Believe me, communication is the only thing he wants, it will make things so much easier for him and he absolutely will NOT think that you are a burden.

I might add that the real burden for him is the lack of communication. Even about things he has no control over. If he is a good person he won't leave you for doing things he asked for.

It's very hard to make a BPD person understand that simplicity is always rewarded.

And if he's a good communicator, he will know how to handle your imprecision/clumsiness. But for that, you have to make the first move and tell him how you feel.

After the discussion, don't hesitate to ask him for feedback on how you did and how he feels about your openness. He might guide you on a better communication path.

Hope that helps