Did I rape my boyfriend?

Jazz
So. About 4-5 days my boyfriend and I had sex for the first time. 
Before we had sex I kept asking him if he was okay with us having sex or if he felt like I was pressuring him and pretty much me trying to make sure he was 100% completely on board with having sex. And even up until today I asked and kept making sure that he was okay. 
And he kept telling me that he did want it to happen and that he would like it to happen again and all of this other stuff about how I need to calm down because I didn't pressure him into sex or anything. 
But then today he sent me this text. 
It's rape if you don't have consent. And from what he is telling me. I'm getting the messaged that I raped him. 
Did I rape him?