I'm going to tell my boyfriend I didn't want to drive 2 hours to see him this week
Is the only reason for not going being lazy?
There are several factors I could name, but that would be the most basic one.
Two hours is a long way to drive even to see a partner, sometimes it is acceptable not to go see someone in this case. Making time for them will show them that you love them deeply and completely though, so try to make it there as often as you can despite being lazy.
Hopefully he doesn't make a big deal out of it.
If someone is expecting you and made plans you should show up. If you think the distance is too much it might be better to break up LDR's are not for everyone.