For men particularly, a practice you might like to consider is to be ‘slow like honey’ when touching or caressing.
Simply run your touch along your lover’s arm, for example. Now do it slower. Now slower still. Even more slowly than that. And slower still – such that you are not thinking about the next thing.
Even if it’s not your Choice to do slow during intimacy, having the capacity to have the option to do so may benefit the levels of self-control you have on what you do want to do.