Am I wrong to be upset?

So I genuinely want to know if I’m wrong for being upset about this, I’m not just trying to go off about my boyfriend lol. So I’m kind of a homebody, a lot of times I like to just chill at home rather than going out all the time, but of course just like anyone else every now and then I’d like to go out and do something. He’s the kind of person that’s cool with doing whatever honestly, but he never asks me to like go out or anything? He knows a lot of times I’d prefer to stay home but there are plenty of times where he wants to go do something and doesn’t ask me to go with him, even to see if I’d like to go. Like this weekend he wants to go to the beach and he didn’t even ask if I’d want to go with him, he just asked his friends instead. Then I asked what if they don’t want to go or can’t? And he said then he won’t even go at all. Like what if I want to go to the beach with him? That’s too bad cause he didn’t ask anyway, and I don’t like to just invite myself places even if it’s my boyfriend so that’s why I don’t say anything. And I have talked to him about it and he said that if he ever wants to go out or anything he’ll let me know, but all the times he wants to he doesn’t even invite me to go with him. We don’t go on dates. Am I wrong to be upset or is he justified because usually I like staying at home anyway?