Is it okay to wake my boyfriend up in the middle of the night?

My boyfriend and I are very close. We've been together for 3 years and we love each other very much. My problem is that I have a tender stomach so I can easily get stomach aches (especially when I'm nervous, sad, or scared.) I often wake up in the middle of the night from a bad dream and have pains in my stomach. My boyfriend always tells me that I need to wake him up if I do that so he can calm me down, but every time I do I just don't want to take his sleep away. I woke him up once because the pain was really bad. He just shh-ed me and laid me down, lifted my shirt, and gently rubbed my stomach until I fell asleep. The next day I felt bad because he was tired all day. I know he wants me to wake him, so I try everytime this happens to give myself pep talks, but I don't want to wake him. He shouldn't have to stay up just because I can't sleep right? What do I do?