My boyfriend is 19 and I’m 17 sex is an issue HELP

My boyfriend and I meet through friends and instantly became best friends when he was a senior and I was a sophomore, he helped me get through a really hard time I won’t get into detail but we are truly in love now over a year later and he is officially my boyfriend, we have only kissed bc we want to be smart about the age difference of 2 year we have been on top of each and we are very touchy we talk about sex a lot but we are trying to be smart cause we aren’t trying to catch a case any thoughts???