I wish I could touch you without wanting to hurt myself

[corawrites]

This clearly captures a feeling that some people find very relatable. I think the idea of the poem makes for a solid infrastructure, and you could definitely lengthen the poem and build upon it. You could also take it in a more "poetic" direction and throw in some imagery or what have you, however there is nothing wrong with a simplistic poem like what you've got going on right now and I am fond of how blunt it is.