To avoid the hurt feelings/ego try using saying something positive about what they are doing followed by an I statement.

It felt really good the way you just rocked your hips. I think it would be really hot if you gently rubbed my clit with your palm.

You know that thing you just did, do that again and then add a little more hold time before you do it again. I would really enjoy that.

Or I orgasam so hard if after some piv