Anxiety during sex due to prior pain

The foreskin of my uncircumcised penis never fully stretch to expose my glans. When I was young my girlfriend rode me hard and it stretched by foreskin and I yelped in pain. We both were very inexperienced at that time. However, even later in life I would have such occurrences sometimes. This was while wearing a condom as well as without. This creates a lot of anxiety for me while having sex and I am very slow and gentle while having sex. Even during sex my foreskin doesn't go back completely but I can still orgasm. I do though feel guilty that I am not giving my partners what they need. Anything I can do to fix it?