I remember reading a book by Cecil St Laurent in which the man always touched the girl's breast in a certain way when she climaxed, and then he was able to make her orgasm at any moment by touching her in that particular way. He made her orgasm in public when she least expected it.

This is the kind of thing that Pavlov researched, and it makes perfect sense. Your mind learns to associate that particular sensation with your moment of climax.

I am not sure how you learn not to climax, but the way this is controlled is in the mind. Maybe you learn to interrupt any thoughts that lead that way, rather like when someone chucks a pillow at you to stop you snoring; after a while you wake up before he throws the pillow.

I think the cure will involve exploring the kind of thoughts that usually turn you on, while your partner / Dom soothes and relaxes you to break the inhibition, washing away the fear.

I hope this helps.