How do I clean my foreskin & glans? I fear that if I rub it too hard I might damage the nerve receptors?

I know that you have to pull back your foreskin and gently rub all the smegma and dirty stuff out, but sometimes the smegma sticks on my glans and so I have to rub it hard in order to get them out. And it hurts really bad when I rub it because the glans are so sensitive. Would I damage the nerve receptors in the glans if I keep doing that? I'm kinda scared, because I don't want a damaged like circised guys, I want my to be sensitive as always ...