Can you have booty calls with your SO

I'm 16 so I still with parents and last night no one was home and me and my boyfriend were both really horny. But I didn't know when my parents were coming home or if they were coming home at all. So I told him he could come but it had to be fast it was around 1:30 am when he came. We only had sex for 20 minutes cause I didn't know when they were coming. When he left I just thought like was that a booty call and it's ok cause that's my boyfriend right ? Idk