I understand this feeling so well! My T has also told me I need to learn to ask for what I need too - that I DO have the right to ask (as well as understand the other person has the right to say yes or no...) Anyway, I never really dreamed of asking for a hug because I didn't want her to say no; nor did I think at first that I should even ask!
But an attachment developed, things got more intense in session, and then I did want one. Then how could she say yes or no if I never asked! I give off the air of one who doesn't want to be touched though, so she was respecting that, until I finally managed to express that the need was there.....So now we have an agreement - she doesn't touch during sessions, but she will give hugs at the end of a session. She makes me ask, though....although this last time, after a difficult session, she said, I'm waiting for you to ask!
Anyway, I know how hard it is to ask, so I'm wishing you the courage to simply ask! It feels so much better to get the words out, even if is a struggle, than it does to leave them in.