I Don't Want To Break His Heart...

Me and my boyfriend have been together a few months shy of 2 years. He's amazing!!! And perfect! He works hard, he takes me shopping, he buys me dinner, he gives me back massages nearly every night, hes funny, he listens, hes handsome, hes amazing in every way! We had a very difficult beginning to our relationship though. We both had drinking problems. I was trying to recover from a sex addiction. It was very hard, and I was always trying to run off. Ive never liked relationships. But he was always there, no matter what. He stopped drinking, he worked through his anger issues. He completely changed. But I was still struggling. A few months into our relationship I cheated on him with a co-worker. It was partially because we had a fight, and partially because of my own insecurities. It should have ended our relationship, but he chose to stay and work it out. Breaking up has never been an option to him. Hes completely in love with me. I try, God knows I try so hard to feel the same. But I just can't....I love him, but I'm not ready for a relationship this serious. I don't know if I ever will be. And it makes me feel so cold-hearted. SSome people spend their entire lives looking for what I'm about to throw away....I don't know what to do. I don't want to hurt him, but my plans for the future don't have a committed relationship in them...what should I do?