Me and my boyfriend of 3 years always have been shy to pursue with each other. Is this a bad thing?

We joke about , we are big time flirts with each other (and other people too). We are so affectionate with each other and etc. But it bothers me that we are so awkward when it comes down to it- well atleast when we are sober-LOL! I (alone) would have to drink more than a couple of gles of wine in order to get comfortable. I think we both have low self esteem. I think its just me- idont know. We both love each other to death. I know he is not cheating and neither am i, because it has always been this way. Our relationship is definitly not it jeopardy. I just want to know if this is normal? Is it just me? Does this happen to other couples?