Advice

So, I met this guy and we text off and on, we slept together after our third time meeting up and I really want to ask him if sex is just what he wanted or if he's interested in something more. Backstory, I'm in EMS and he's a police officer and we met on a call and after that I didn't see him for a while and then he was in the same post coverage as me and we were talking and he was saying things like he was hoping to see me again and blah blah and gave me his number. So is it bad if I just want to ask him if he wanted to hook up and leave it at that?