I want to do anal with boyfriend!

I have been in a relationship with him for 5 years, we have tried it before but only once or twice and not for long. I really enjoy it and it has not happened in a long time. Should I just try to make it happen well in the act or should I just ask him?

I just feel like asking makes it planned. Don't you ever just want him to take control and do you in 😅 let me know.