Penis retracts

Well, I'm 19, and I'm not sure if my penis has been this way my whole life, but it has been since i was at least 12 or so. It's uncircumsized, but what concerns me is when it's soft, my penis doesnt stick out or hang or anything. It sorta retracts I guess is a way to explain it.

And when its hard it sticks out straight, but its only like 3-5.-4.0 inches. But the fact it doesnt stick out when soft, is that a problem, should I see a DR or something?