Greetings. Please see a qualified dermatologist - if this is confirmed to be pearly penile papules - then dont worry. Yes, they are normal/physiological. However, if it "embarassess" you , then see a qualified dermatologist near you and can consider certain procedural treatment for ablation of those lesions. Hope this helps.
Next Steps
Can send pics on follow up messaging for confirmation of diagnosis
Health Tips
keep the area clean, wash daily with soap while bathing