What an ASS!! You told him that you were getting tired and sore. His desire to orgasm does not supersede your physical comfort! From your description, you were a playful and engaged partner, that he didn't cum during oral and various positions is unfortunate, for him. It appears that you were willing to continue even after your orgasms until you began to hurt. At that point, HE has an obligation to see to YOUR comfort. Recreational sex is supposed to be fun. When it ceases to be fun for one person (pain, boredom etc) that person has a right to end the interaction. Sex occasionally does not provide an orgasmic quid pro quo to both partners but in the end, you provided him with the pleasure of your hands, your mouth and your pussy. He should have been grateful and thanked you and your husband for the gift of sharing you. His demand that you stay till you make him cum is outrageous. Mrs Doc decides when and who to fuck and for how long and when she's done….she's DONE! You are NOT wrong, in fact, reading between the lines, you probably stayed at it with him well beyond the point of diminishing returns for you.
Some guys don't cum easily, some who have taken a viagra and overdid the booze a little can keep a woody forever and not cum. None of those things are your problem. My wife has an aversion to being pounded for a long time, her idea of a perfect romp is foreplay, multiple orgasms for her and one toe curling orgasm for him. If that doesn't happen within a reasonable time, she'll tap out. I'll check on her after a half hour or so, especially with a new partner. There have been a few occasions where she'll see me at the door, give me an intense look and roll her eyes. That's my sign to tap the guy on his shoulder and say, " my wife needs a break" . No one has ever failed to take the hint.