Boyfriend feels embarrassed/insecure, what do I do?

Sophxoxo
Occasionally my boyfriend falls asleep on the couch, so I sometimes pick him up and carry him to bed, he woke up whilst I was doing last time though. He freaked out a little bit and explained he didn’t like the fact he’d been “humiliated” (his words not mine) by someone so much smaller than him in frame. I’ve done this before, but I guess he wasn’t aware of it. It just doesn’t make sense to me since I’ve never done it with anyone else around and I don’t get why he’s so embarrassed, and I thought what I was doing was good for him since he often falls off the couch when he sleeps on it. I’ve tried to ask him to elaborate but he’s not very good at talking about his feelings, and I don’t want to press. I can tell it’s still weighing on his mind. How should I address it with him so it can be relieved from his mind?
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I should note, I promised I wouldn’t do it anymore, as I can see it made him feel uncomfortable, yet he still feels affected by it.
Boyfriend feels embarrassed/insecure, what do I do?
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