Possibly being more assertive will help. She did ask you to be that way.
A question, you watch her masturbate herself and like it, do you bring her to orgasm by just your efforts, be it orally, manually or by penetration? If not, why not? And if so, only once or many times in a row? Why not spend time focused just on her pleasure? Are you really selfish like she said? You do it for her feet and by a massage, but not sexually? What is wrong about a massage leading to sex? I think it is one of the best forms of foreplay.
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