How do I get over my aversion to sex and relationships?

I am a twenty-four-year-old gay guy. I have been in one relationship that only lasted a month (although, we dated pretty intensely for five months beforehand), and I have had bad sex about four times.

I am told that I am attractive, and I have been on a lot of dates that went well. However, once it gets to sex, or even making out, I don't really know what to do. The line between "partner" and "friend" is blurry to me. I don't handle grand displays of affection well - a man got me flowers before a date and it made me feel as though I would throw up, even though I don't really have anxiety issues. I sort of see partners as friends you have sex with. To me, sex is an entirely unemotional thing, and I do not know how to match what others expect in bed. I also lack much of a sex drive. Low testosterone may legitimately be the cause.

I am also okay being alone. At least, I am so used to it that it doesn't feel abnormal. Spending a few weeks completely alone wouldn't be an issue for me. I have rejected far more men than have rejected me. Yet, I feel that I am missing out on an essential part of the human experience, and that staying alone is preventing me from maturing as a person.

Does anyone else feel this way? How do you get over this? I truly do not believe that I am asexual and unaware of it or anything. I think that this is legitimately just a problem I have.