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I'm not sure if I'd call it critisism.. but what about keeping discussions out of the bedroom... perhaps you could discuss what you would like to try during the day, like a lead up to the activity. If you can bring your sexual activity discussions in to the day to day type conversations, I'd imagine that could make for some more interesting bedroom activity and perhaps it won't be so structured and therefore won't 'kill the mood'.
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To those who wander but who are not lost...
~ Knowledge is not something you acquire, it is something you open yourself to.
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