I have been having some difficulty in pleasuring my girlfriend since our relationship started four years ago. She says that, for her, she really likes the psychological aspect of sex, but I have never been able to give her an orgasm from just having sex without the help of toys. I have also been able to get her to orgasm from just manual stimulation - using my hand, but she says that the orgasms she gets from both of these things are really not very satisfying.
She says the best orgasm that she can achieve is through masturbation. I would like some advice because I feel bad that she isn't getting the sexual satisfaction from our relationship that I do. I have literally not masturbated in years because she honestly does a better job than I ever could. But she still feels the need to masturbate because the orgasms that I give her don't really do it for her. She says that the finish is never any good and that I would literally have to be able to read her mind in order to give her the orgasms that she gets from masturbating - because I guess I don't know where to move, how fast or slow to go, etc. in order to help her get the mind-blowing orgasms she is used to. She has tried to help me out by telling me what to do as I do it, but she says it's too much of a distraction to get the results she gets from masturbating.
Is there any way I can finally satisfy my girlfriend? She insists that she is happy with our sex life, but I guess I just feel bad that she isn't getting what I get from when we have sex. When we are done, she ends up having to masturbate at some point later just to get some measure of physical satisfaction.
Is there anything I can do?