First relationship- sex?

Hey girls!

I have been with my boyfriend for almost two months now, and he's been hinting that he wants to get into bed with me. He adores my body, caresses all my curves and always tells me how fantastic he thinks it is. The problem is he's my first boyfriend (I'm turning 18 in a couple of days), and I'm also a virgin. He does know this fact, and he's a little worried since his friend told him his experience with his first girlfriend who was also a virgin was painful, overwhelmingly messy and also awkward. I told him I won't know what I'm doing, so he'll have to do quite a lot of the work since he has more experience, which made him a bit nervous. I'm very busy currently with university so I'm trying to balance my relationship and school life but it'd quite the challenge. My question is, when should we have sex? When will I know when the right time is? Sometimes when we make out I get these bursts of wanting to just rip all his clothes off and kiss him more passionately but I can't since we're usually in public. Should I do little things to keep his hopes up, to show him I have it on my mind too, although I can't do it yet because I don't have time at the moment?