How do you come onto your man?

I’ve been with my boyfriend for 6 years and was a little inexperienced sexually when we got together. I’m naturally not very dominant and I’m generally quite awkward. It feels like it’s mostly him that comes onto me and initiates sex but I want to take control of that a little more so it’s not always one sided, but I don’t know what to even do. Usually I’ll just cuddle up to him and let my hands wander but it can be a bit out of the blue. He’s not shy at all and will say exactly what he’s thinking but I get so awkward when dirty talk is even remotely involved.

Any suggestions?!