How to know if I'm ready to lose my virginity?!

So my boyfriend and I have been together for almost 3 years! We are very close and tell eachother everything!! We both love each other a lot!! We are also very sexual and have done almost everything but have sex! He's gone down on me and I've absolutely love it!! I get this feeling like just want to rip his clothes off and have sex right then and there! How will I know when I'm ready?! I feel like I am but want to be 100% sure I'm not making a mistake!! Tips please!!