More Intimacy, but how?

So my boyfriend and I have been together for almost 3 months and he is the best guy I have ever dated, it’s almost scary how great it is. We enjoy each other’s company and everything is great. I just want him to be more intimate; like rub up on my booty or something. I understand and appreciate him respecting me, and maybe he’s nervous about doing certain things. Should I ask him if he’s comfortable around me? Or how/ what should I ask? I don’t wanna mess a good thing up.