Isn't he just overthinking it? Has no problem railing her however he wants. Why is it so difficult to not overdo it with the s thing when it's all up to him anyway
If all we had is Mahiro's POV, I'd be inclined to agree, but it's clear with Yuka's POV that she wants him to go further and further. She wants more, and he's afraid that if he doesn't overdo it, then he'll strain their relationship. Even if he didn't use the word "normal", I'm sure this incident would leave Yuka in a state of self-loathing over the fact that she forced her boyfriend to do things that made him uncomfortable.
Ultimately though, Yuka is an adrenaline junkie in her pursuit of masochism, so she needs more stimulation. Eventually what she has won't be enough, and they'll have to take it further. Then that new thing won't be enough, and they have to keep going further. Rinse and repeat.
Mahiro's fears of BDSM being never ending is a legitimate one. In 8 chapters they went from gentle domming in restraints to choking. If enabled, who knows how far Yuka would take him? As he rightfully asks; "When does S&M end?"
Ironically, this could be solved by showing some restraint lol