I'm breaking up with my boyfriend tomorrow because I deserve better

He's away for the weekend; I was invited by his friend to come along and he told her I couldn't even though I'd said I'd really like to be there. I have bad social anxiety around people I'm unfamiliar with and have been trying to get closer to this group so I can be involved in his life and this felt like such a slap to the face. I had a panic attack around them once and now he's reluctant to bring me along with him anywhere, to the point that he suggests driving separately because he's not going to leave early if I start feeling anxious.

It took me until this weekend to realize that he never actually cared to listen to what I wanted. He's selfish and only happy with our relationship when I'm not making any sort of demands. And I deserve so much more than that. I deserve someone who wants me to be friends with the people they care about instead of telling me "it'd be weird" if I got close to them. I want someone who actually respects the boundaries I set and listens to me when I tell them what I need. I want to be with someone who is proud to be with me, and not someone who only tells me they love me when he wants to have sex.

I feel angry that I've only just realized this now.