how do you talk to your doctor when you are afraid or embarrassed?

hey guys so I’ve answered lots of questions on Steady health over the years and often get the same questions over and over . questions about sex, puberty, penis size, masturbation, STDs, pregnancy, “am I normal” or “is this normal” these are all totally NORMAL questions to have yet many people here say they are too embarrassed or afraid to ask their health care provider/doctor. Aside from answering questions on here I am also in school to be a physician assistant....so let me get your opinion?..... So as a provider I have to discuss things with patients like sexual history /drug/alcohol use ect... I try to be as open and non-judgemental as possible so that my patients feel safe/comfortable being honest with me.  

So my question for all of you is.....If you were at your doctor for a physical  and you had a question/concern regarding something like sex, STD's, puberty/development, pregnancy or if something was "normal" or not,   would you rather be the one to bring it up when your doctor asked "do you have any question or concerns"?     or would you rather the provider be more direct and ask something like "do you have any questions/concerns regarding things like sex/STDs/ development or pregnancy" ?

im just trying to get peoples opinions  to help me be a better provider and be able to get the most accurate info out there. The internet is good but since it is opinion based there is plenty of room for not so accurate opinions.

thanks for reading and for any input I really appreciate it!!!