I think you have a good attitude. Just being willing to ask the question, "How can I be a better lover?", tells me you will reach your goal. There is good advice in the posts above, follow it and you'll be fine. I'll just say that you should be curious and pay attention to what works, and talk to your lover about sex. Keep the communication happening but don't be a pest about it. The worst thing a guy can say is, "was it good for you?", all the time.
Maybe some people are born to be good lovers, I don't know. But everyone can improve if they want to.