It sucks that the guy you're dating (I notice you didn't say "in love with") is unresponsive to what turns you on. Is the rest of the relationship so good that he simply can't oblige you in this way? I mean, if the Love doesn't make up for sexual differences, I'd look at what's keeping me there. Sometimes we stay in relationships because we think "it could be worse," instead of "it could be better." Ask yourself what the good points are and what the not-so-compatible areas are. See if they balance out. I once had a guy I was crazy about and he has very sexy feet, but didn't understand the appeal of feet. Nonetheless, he would, when feeling me reach down his legs, bring his feet up so I could touch them. That was great, but emotionally, it was unsatisfying and now we are friends - no sex.
You're not being petty if you told him about what turns you on, but you also say he offered his feet to you and you declined. So, it's a bit tricky. It's not as though he didn't - in the beginning - meet you halfway, but your own concerns about touching his feet made you reject his offer. Now that you've done it, he's not responsive, because he says his feet aren't sensitive. It does sound, though, that when someone is always "forgetting" what you told them turns you on, it's a bit passive aggressive. Not to say that that's what's happening, but don't rule it out just to be "in a relationship."
But you can still come to an accommodation, if other things are functioning well. Do you actually talk about the relationship, such as asking if there's anything he feels you need to talk about, or in your case, you need to talk about with him? If everything is going by "hints" and "assumptions," you're not really having a conscious relationship, in which case, , you may end up only torturing yourself. Relationships are about Love more than about sex, and usually, genuinely loving someone means you want to see them happy - and happy being with you. See if you can find a happy medium, such as "x-out-of-x-times-I-get-my-needs-met" and the rest of the time you also make love to him the way he likes.
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