If there are two lumps, one of each testicle, then you have not much to worry about. I can see that you have already visited a doctor and suppose that he felt your testicles and found nothing, right?
These two lumps you felt are probably anatomical lumps because testicles are not just two balls as one would think. There are other parts connected to it and one of the parts is called epididymis, a lumpy tube attached to a testicle. These lumps could be felt by examination and if you pressed hard, it could hurt or cause discomfort regarding sensitivity of the testicles.
Is the discomfort followed by any other symptoms? It is very hard to say anything without examination. If all the tests show negative, your doctor may order an ultrasound to see if anything’s wrong. If you are playing with your testicles vigorously during masturbation or sex, they may hurt.
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