Here are some resources you might show:
https://www.susans.org/forums/index.php/topic,197523.msg1756901.html#msg1756901pan simply means all, additionally to bi which implies only two genders for some people (bi meaning two... and some people see bi as inclusive as pan... its a matter of how people see it...)
so pan might simply implicitly imply inclusion of trans and non binary people...
well concerning your relationship...
I'd say talk about it.
They cannot read all your thoughts, its possible they can guess some

So you might simply explain some of your restraints, and they might reassure you.
And you being together, well you might find ways...
you using a shirt... and maybe toys... a strapon...
or using vibrators to pleasure each other...
well... you might share your love in a way both of you feel comfortable...
I'd say just take your time and talk to each other...
*hugs*