There is no reason that 'foreplay should be limited' - on the contrary, lots of foreplay, not rushing to penetration would help you both.
Not necessarily. With my ex bf once he got an erection, which might happen fairly quickly if it was going to happen at all, he wanted penetration ASAP. Waiting meant he could very easily lose it and if so, not regain it that day.
Why does he rush to penetration when it's the thing he's least able to achieve? He's (and you are) missing out on all the other wonderful things sex brings to a relationship, like intimacy and a myriad of sensual pleasure which itself brings closeness.
Again, with my ex bf he did something similar. The one thing he focused on was the thing he found most difficult, despite my reassurances that there were lots of other things we could be doing. Any foreplay tended to be dismissed as me pressuring him for sex so he didn't like it. I couldn't do anything right, no matter what it was.
In the end, he dumped me. I'm glad he did though as we just weren't compatible and my experiences with other men since then have been much, much better.