Is it ever too early to seek couples counseling?

My boyfriend and I have been off/on for the last 2 years. In these two years and going through the things we have together has made us stronger, but there is a reason we are off/on instead of just staying together. We need help understanding each other better and advice on how to deal with some of our issues. We've grown alot together and have such a strong bond and love for each other that we DO want to make it work and do anything we need to do in order to make that happen. We'd like to get married and start the next chapter in our lives, but not with how things are right now. When is it too early for couples counseling? Is it ever? I don't want to be negative but it's making me wonder if we are even meant to be together if we are already needing something like counseling.... I have never had a successful long term, healthy relationship and it worries me. (I'm 23) I know I need to start somewhere.