I think I worry to much about what the other person might be thinking.

If it's really not an issue with you, then literally get in to a space where you 'own' it. Don't get really nervous and make it look like you might have prematurely ejaculated, don't become too shy etc. - just be open, honest, make a little joke of it, and let them react. Their reaction guides yours. Some women are weird about pre cum for obvious pregnancy reasons, so just do what you're doing but in a less shameful way - give it a quick wipe and carry on. Alternatively, most women I've been with like it, and you might find a good proportion of them will just let it go or even lick it up.