People are so damn self-conscious about their penises, it's not even funny.
Normally, being a late-bloomer is not just it, it's also due to the hereditary facts. Your parents, of course. Most traits will run in the family and yes, you will inherit them. Point is, you just have to live with it. It's your one and only body. BTW the human body will mature until the age of 21, in case you're wondering.
Be happy with it for the time being