What can I do to tell my boyfriend that I get anxious when he puts his hand on my hip in public?

I'm gay, and I struggle with anxiety. The other day I was spending time with my boyfriend and he put his hand on my hip while we were walking, and I could feel everyone staring at us... I want to do that stuff with him, but I don't think I'm comfortable enough to do that, yet... I don't want to make him feel bad, and just never interact with each other because I'm afraid of what other people will think...
What can I do to tell my boyfriend that I get anxious when he puts his hand on my hip in public?
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