Yeah, it sounds like it could be a fear of intimacy thing. Not fear of sex, but fear of getting emotionally close to someone, which might be related to stuff from your past or your self esteem, or maybe even your preconceptions about relationships, etc. Definitely some kind of therapy or counseling or even going on to YouTube to see if there are videos by people experiencing the same things as you.

I'm pretty certain you can work your way through this mindset of yours.