Zach, it looks like you had a full circumcision - in that all of your foreskin was removed when you were an infant.
So when you say you have had this looked at, do you mean by a medical professional? If so, what they are telling you is that this is a very typical appearance for someone who is circumcised
I can give you details of what to do to help with this - but bringing about any real change will be a very long process and means you will need to put life-long, but simple changes in place …