Is it ok for my boyfriend to look under my shirt?

We've had sex before but this is my first relationship and I'm very new to the dating scene so I don't understand everything yet. My boyfriend and I were making out in his car (don't worry, we were away from others and not visible) and we got handsy. He asked me to take off my shirt because he wanted to see my boobs (they were looking bigger because I was wearing a push-up bra). I knew he was loving it but I didn't want to take it off because I hadn't waxed my underarms. So we just continued making out. When we were done, he pulled the neck of my top and got a quick look down my boobs. It just felt weird to me. Is is normal for a guy to do that?