Is it normal to have doubts in a relationship?

I've been with my boyfriend for two years. He is great guy & we have similar values but he is shy in social settings & is introverted. He doesn't have a lot of friends so we are usually doing activities with my friends & I feel an enormous amount of pressure to be the outgoing one between the two of us. I'm not sure if I'm projecting my own insecurities on him or are we just not compatible? I guess there is part of me that envisioned being with a person who is outgoing, likes to dance, erts oneself, etc. I don't know if I'm looking for something that is perfect (because he fits the bill in many other areas) or is this simply is not a match for me?