I have this Approach-Avoidance conflict with intimacy, I'm longing for a connection with the opposite sex but also terrified to hell by it.

I got myself to dating this beautiful girl lately and things didn't work out eventually, I may have screwed up things because I was afraid to make a move and kiss her and then one day I would just text her how I felt... all felt kind-of-impulsive.

I'm very inexperienced with girls, so there are lots of stuff that I just don't know, like the manners and what is accepted or not in first dates etc..
I believe that I just have to go with how I feel and do stuff that I feel are right, like send a flower whenever I feel like sending a flower and not based on mathematics and calculations "is this 3rd date ? you should touch her hips" (came up with this, hope this in not written anywhere)

Is this flawed ? should I do learn some ground rules n stuff ? or just be myself, the insecure, inexperienced, but exploring and curious guy ?