Hello Doc Me And My Girlfriend We Don't Do Sex

Hello doc me and my girlfriend we don't do sex we just play with each other

like oral sex and stuff

But we stopped that too

But whenever I sleep with her I just press her boobs and we kiss each other and then I cum in my underwear

But i always get tension that my sperm didn't entered her vagina

I don't touch her vagina nor she touch my penis

But still I get in tension..
What is the problem with me. ?