The reason why you find it hard to rest, even though you know you need rest, is because may be you are in the middle of a change in progress. You might need to make certain important decisions in your life, or you might feel like changing something that no longer works for you as it used to. I suggest that you continue to keep what serves you and implement on top, your own rules self
disciplining your raw instinct (Controlling) to run out with friends when you even know that to rest will be of good use. In that way, you could perceive the joy and harmony of relaxation when you most need, knowing that your friends are always there for you and you can work on setting the appropriate time to spend with them. After all, good friends that have fun together would probably suggest the same thing to you.
I hope this can help you.