Sex help

I'm 16 years old, and before I was in the relationship I am in now I was with the same guy for three years. Now everyone's definition of virginity is different, I have messed around, but I have never have had what I consider to be losing your virginity. Aka no penatrive sex. This is mainly because I just didn't want to. I knew I wasn't ready, and I always had that feeling in my gut that he wasn't right for me. I was young when I was with this person and I just didn't know what I wanted or what I was doing. I can truly say I loved this person, as much as a 13 year old could, but I knew I just wasn't ready. For various reason I won't go into (one being several occurances of cheating) I broke up with this person I was excruciating loyal too. No matter what age you are or what happened, heartbreak is heartbreak and it hurts like hell. I knew then entire time I deserved someone who treated me better, but I finally had the guts to do it. But this is for a whole other story, right now I want to talk about somthung else. Now, I am with someone who has been my best friend for a long time, he and I had a platonic relationship throughout my past relationship but he never went over the boundaries although both him and I knew he liked me. He would always tell me that I deserved to be treated the best any guy could give me.We are alike and different in all the right ways and he is honestly the most kind and compassionate person I've ever met. I am so in love with his motivation and dedication to his school and athletics, he's going to be a great man with a bright future and with or without me he will achieve great and wonderful things. He is an amazing person and truly a great friend to have and a fun person to be around. He's kinda emotionally closed off, but is open to talking about that. If that makes any sense? Like he said he is an emotional person he just has a hard time expressing himself. He says he is going to try to work to communicate how he feels and thinks better because he knows words or affirmation is something I need to feel safe. Not only that but he is drop dead gorgeous. I don't mean that in a "he's my bf so I'm going to think he's the hottest guy on the planet" , I mean that as someone who doesn't even know him would say "holy shit this boy is fit to be a moviestar." He's the jock, the brilliant nerd with a 4.0 and a love for books and secret romance. I'm in love with him, and I trust him. He's the kind of guy that wouldn't hurt an innocent fly, but if you screw with the people he loves he will knock your lights out. But here's my problem. He has said several times that if I have any doubts at all DO NOT have sex with him. He only wants to if I am fully really and completely accepting of it. He has also said if I choose not to, that's perfectly fine and he will want me all the same. I know I'm ready, and I'm on birth control for other reasons anyway, and my parents have already gave me the talk saying "I know you will eventuallly and that's okay I just don't want to know when you're doing it and you're  you're staying safe!" I just don't know. He's going to be a senior and in going to be a sophomore and we both have already said no matter where he goes to collage or how far he goes away we will fight to make it work and stay connected and see each other whenever possible. We are both fiercely loyal and monogamous people. I know I'm going to, and anything anyone says on here isn't going to stop me, I just wonder what anyone's opinion would be looking from the outside in. He's honestly so perfect. If I were someone else reading this I wouldn't believe my description of him either. It's almost too good to be true, and I think that's the only reason why I'm scared. I'm not scared of failing, I'm scared of sucsess, because this guy is everything I could ever want and nothing is there to stop me. He's my best friend, and an amazing partner always motivating me for success, romantic as hell, insanely intelligent, and truly kind and honest. I thank my lucky starts every day that I met him.