I embarrassed myself while my boyfriend and I were making out, how do I make it up to him?

We were making out on his couch. His hand was down my shirt, cupping my breast and foundling my nipple. This is a huge turn on for me, but do you want to know what my reaction was? I tensed up and smiled. We have this joke running between us about his breasts being big (they're not, he's a soccer player with a nice toned body) so for humors sake he said,"Your breasts are no fun." He was about to follow it up with "because mine are bigger," but being the socially awkward idiot I am I said,"Well then fine!" and started tugging his arm away from my chest. I'm not very strong so his arm stayed but he stopped and asked me if I was shy about him touching me like that. I said yes, trying to be playful but he took his hand away anyways, then later said,"Oh, you don't have to get so mad."

:(

I wasn't mad, and I do like it when he touches me like that but lately I've been feeling like a failure. I'm a virgin, and he's the first guy to ever touch me like that. How do I make it up to him?