I'm depressingly behind peers in relationships
What do you mean by being behind in relationships?
I haven't had as many, so I feel like people will think I'm needy if I move forward in relationships with them.
While it is totally normal to want to compare yourself to others, there is no set pace at which you need to have relationships. You should move at the speed you feel comfortable with, and if others think you are too needy you should reflect on your behavior.
You are wrong, I am failing at life.
You are being too hard on yourself, it's fine to date at your own pace. Try not to worry so much about what everyone else is doing.