I'm gonna cut the shit about lifts and all that, this is a general question.

I read most of the recommended info, not fully done yet, but this crossed my mind.

We're always told you should never negotiate desire. For obvious reasons. It's weak, and at best gets you some starfish because she is obliged to put out.
But I also read a lot that as a real man, you should state your needs and go after them.

How do I reconcile the two?

For example: I never really told my wife how much I want it. She knows I want sex, but not how much, or in what way. I went nuclear once and literally said, "You're just laying there" which ended up in a meltdown, threatening divorce on my part, hysterical bonding for a month, yadda yadda yadda.

I realize, if anything, I should state calm and clear what I want. But, by doing so I am negotiating, am I not? Or is this rule more nuanced that I thought?