Was this rape and do i need plan B?

Last night I went to my male friends house and ended up staying the night. We have often done sexual stuff together before when I stay the night but only once had sex over two years ago when used to really like each other and it hasnt happened since then. We were just kissing and then we started getting undressed and then he put his dick in me without asking or warning me at all. It only got about half way in when I told him to stop (which he did) but it really confused me and upset me because he knows I would never do it unprotected and i would at least expect him to ask. I feel really differently about him now but I guess the fact that we have had sex before probably makes him think I would be okay with that, but I am not, especially since he wasnt wearing a condom. Would this be considered rape? I feel bad using such a strong term to describe what happened but I do feel kind of violated. Also, would I need to take plan B? I am so paranoid about getting pregnant.