It seems that a lot of people equate male "sexual prowess" with being hard, probably for extended periods.
Once you let go of that weird and completely unnecessary presuppusition, you discover a lot of interesting facts. One of those is that a flaccid penis is actually way more sensitive than an erect penis. Another is that the erection will come back in the course of your lovemaking. So I'd suggest to just enjoy the flaccid phases along with the erect phases, probably using them for slightly different activities.