Had sex but after a break i asked if we could continue so i could get off

We've been friends/ hooking up for about 6 months. She also knows I sorta have a thing for her. At one point she reciprocated feelings but niether of us are looking for anything serious or exclusive.

Last night we had some very nice sex but I didn't get off. At a certain point she asked if we could take a break and we stopped , cuddled, and talked for like 20 min. Then we realized it was kinda late and we should head to bed. I wanted to orgasm inside her so I started to speak but then hesitated. She wanted to know what was up. I told her I was going to but I decided not to ask for a few more minutes of sex. I said it in an uncomfortable manner because I felt insecure about asking. She said she would have probably said no anyway (she was in the process of putting on clothes and the sexual heat had died down). I said I wouldn't want her to think that I just wanted to use her body and she said she didn't see it that way.

Afterwards we talked, kissed, and cuddled some more. She told me she had been really appreciating me in her life lately and looked into my eyes in a special way. She also talked about how excited she was about her upcoming vacation, so it didn't seem like what I asked bothered her.

I still feel like an ass though for thinking about asking her for just a few more minutes so I could get off. It's really bugging me