Is it normal that my boyfriend and i rarely want sex at the same time?

My boyfriend of 2 years and I are having a lot of friction in our relationship because we rarely agree about when to be intimate with each other. Neither one of us like to make the first move and sometimes when we do we reject each other for different reasons. Do other couples have problems breaking the ice, too? I just don't like being pushed away or how he comes at me. Is this normal?? Suggestions??