You sound quite a bit like me actually. While I didn't have the full 33 years or anything, I certainly led a fairly sparse sex life for quite a while up to 32 myself (34 now). Was never in what I would consider a "real" or "adult" relationship until that age. Now that I've had some time in a healthy relationship to reflect on what my problems were, I'll just lay them out here, in order:
No self esteem. My main problem was, I didn't like myself very much, so why would anyone else like me? It's not that I hated myself, but I pretty much only saw my flaws, and thought everyone else was noticing them exclusively too. Sounds like you might have some of this.
Lack of experience. Sure, I wanted to have sex on a more regular basis. But then I would get anxiety about my lack of experience and wondering if I'd even be able to gratify the girl. You could read every book ever published on this subjected and the knowledge gained wouldn't amount to what you'll learn after you've been in bed with a willing partner in the first 5 minutes. Reason being? Every girl is different. Some girls are very giving in bed, some are very selfish. Some are very confident, some are shy themselves. Someone in your situation is going to need a very understanding and non-judgemental person in there for your first time. The reason for that? You will do one of two things: either lose your erection and not be able to do anything at all, or blow your load in like 30 seconds. Neither is very awesome, and both require someone understanding who can laugh with you about it. Both will go away with time as your comfort level with the person increases.
Sex on a pedestal. As others have mentioned. People who haven't had it yet think it is the most unattainable and special thing possible. Once you start having it, you realize literally all 50 billion people who have ever been alive in the history of the world (or however many it is) were produced this way. And countless other times it has occurred for enjoyment alone. The bottom line: while it is awesome, there is nothing particularly special about it from a "rarity" standpoint.
Because of your age, you're starting to think you're "up against it" in regards to the clock. Maybe if this was the 1890's, you'd be right. But there has literally been no other time in history where there was so many ways for you to find women you know are single and are at least somewhat interested. Online, bars, whatever it is. You'll be fine once you get out there and build some confidence.