Tyanna, it sounds like you might be asking a very general question about a very specific issue. Is this playing out in your life in some way that has it on your mind? Of course you don't have to share if you don't want to, I just wanted to open the door for that question. You're free to not step through it.
"Truly" loving yourself is going to have different definitions for different people, and is going to feel different to different people. There are no strict and firm rules about what "loving yourself" means. So, does it mean you could or should be content without physical affection/contact? No, it does not. Likewise, if you are dissatisfied with the level and type of physical affection you are getting from someone in your life, that does not mean you don't truly love yourself.
Self-love is an amazing thing, but it is not everything. Loving yourself does not make you indepedent from the influence of other sources of love. In fact, loving yourself is a key stepping stone to being able to accept love from others, because by loving yourself, you indicate that you believe yourself to be worthy of love. (It's surprising and saddening how many women don't feel they deserve to be loved, and put up with unhealthy relationships because of this.)
This won't be true for everyone, because some people simply don't like to be touched, but look at it this way: By wanting and inviting others to touch you affectionately, you are deliberately requesting more love for yourself. Not because you don't have enough self-love, but because you love being loved! And there's nothing wrong with that.
❤️