Going on a date with my boyfriend and we both are thinking about having sex. Should we or no ?

I’ve known him for 6 years and we were best friends through all of it before we finally admitted our feeling. We were talking about our relationship in general and we started talking about sexual things and like how we felt about things. We are thinking about kicking things up a notch and possibly having sex. I want to and so does he but we just don’t know if it’s the right time I guess we are just worried we are going to mess things up. We don’t want to mess anything up because we respect each other to much. If you need anymore info to give your opinion let me know in the comments please and thank you 👍🏽👍🏽