if you don't have a lot of flexibility, do some stretches first, especially stretch yr back by standing up str8 and trying to bend backwards from your waist as far as you can. you might need to do this for a while, like maybe a few times each day for a week before it will really help, and you might need to keep doing it to keep the progress you make.
after you think you're more flexible, get naked, sit down on a straight-back chair and lean forward until you are bent over double. hook your arms under your knees with your feet planted firmly on the floor, and try to get your head as close to your cock as you can. you can repeat this until you can get your mouth as close as you can to your dick.
the next step: get in bed totally bareass, and cross your legs under you, then get your dick as stiff as you can. get your arms hooked under your ass or your upper legs, and lean as far as you can forward until you can suck your boner. if you can't do this, try rocking back onto the small of your back, keeping your legs crossed and see if you can get the head of your hardon into your mouth. using a pillow under the small of your back might help you reach your hardon to your mouth. also, if you can at least lick the head of your cock, keep doing that as for as long as you can. that will encourage your horniness to keep you at it. and don't worry about precum, doesn't have a strong taste. it tastes much milder than jizm.
if you still can't suck your cock, and you think you're flexible enough, try this, (but be aware that you should stop if you feel strain or pain!): get boned up hard and cross your feet at the ankles, then try to pull your crossed legs behind your head, then use your hands to guide your boner into your mouth. some people find it easier to put their legs as far back as they can, and then nod their head forward and cross the legs behind the head that way. some people find it works better to cross your legs behind your head so that your knees are behind your shoulders. this pulls your torso further forward to help you reach your head down closest to your cock. this requires a *lot* of flexibility and practice, but it gets your mouth and cock about as close as possible to each other. some guys who do this can actually deep throat themselves!
if you want to see pictures of some of these positions, got to eatyourcum.tumblr.com/archive. you can get some visuals of experienced self-suckers, and maybe try these postures while you can see yourself in a mirror, to check how close you're getting to the target. in some of these pics, the guys are eating their jizm, but of course, you don't need to do that part if you don't want to.
if you're not reaching close enough to suck it, always stop before you feel pain or strain, rest a bit, and then try again, and push just a little bit harder. it may take a long time and repeated sessions, but if you really want to become a self-sucker, your horniness will push you to make it.
if none of these things work after trying a long time, there are two possibilities. usually, it is because you're not flexible enough or your gut is getting in the way (so you need to do some fat-burning exercise and control your diet for a while); or, your dick isn't long enough. in the second case, you can try jelqing (look it up online) and do the exercises to stretch your prick *gradually* until you reach the length you need to self-suck. I've seen your photos, and to me, it looks like your meat is long enough to reach your self-sucking goal, but you might be a little out-of-shape and need to work on that for a while b4 you get to taste the saltiness of your own cock.
it's worth the effort if you feel really horny to do it, i know!
about avoiding getting jizz in your mouth, two things: one, if you feel yourself starting to cum, back off your cock or, if your hands are free, pull it out of your mouth and point it away from your mouth. the second thing is, that for me at least, i got used to connecting the pleasure of a self-blow-job with the taste of my cum, and now, i actually kind of like it.
message me if you need more info or want to clear up any details of what i wrote. i think you'll be a member of the club soon...
good luck, and i hope you reach your goal of becoming a good self-cocksucker!