is this considered rape?

My boyfriend and I were about to have sex (consensual) then suddenly I just didn't feel like it anymore. He kept begging me and begging me (with words he wasn't touching me at all). Then I said no and he pinned me down and whispered in my ear "What was that, Princess? Did you just say no?" We do a lot Daddy/Little girl kink kind of things, so that is kind of a form of foreplay for us. Bc our rules are you're not allowed to say to no "daddy" unless I absolutely need to (it hurts, I feel unsafe or scared, etc..) 

So anyway I was still being stubborn and wouldn't let him and he started to run my clit, which made me wet and then he slipped a finger in while he held my hands pinned down. He was making me wet but I still didn't want to. Then he got on top of me and slid his dick in while kissing my neck. I was about to tell him to stop but then out of no where I suddenly was feeling horny again and I pulled my legs up so he could go deeper. And flipped over so he could hit it from the back. 

After is was all over, I was thinking about how I said no before but he still did it. Is what happened rape? I consented to it less then three minutes into it, so Idk what to think.