Pls tell me my man isn’t the only one

My boyfriend and I have been together for two years… when I tell y’all I’ve never experience a love like this before. He knows me like the back of his hand to the point where sometimes I’m like how do you even know that lol.. and he will say I told him in conversation but I honestly don’t remember lol. Basically, he pays attention to me and my emotions and body language, an amazing listener and advice giver, he stays helping me clean my apartment without asking he will do dishes, take the garbage to the dumpster, God forbid i carry any grocery bags lol. He is patient and a bunch of other things.. BUT. Sometimes I feel insanely insecure in our relationship and in his love for me because this man sucks at making plans. Like when I tell y’all it’s rare that he asks me to hang out, it’s usually always me. He would be perfectly content only seeing each other a couple times a week. We’ve talked ab this so many times from him getting his priorities straight to him just saying hey I wanna see you, what would you like to do and I will plan something to taking the love languages test (which by the way, mine is quality time and his is words of affirmation/physical touch).

I don’t know what to do. I know that he loves me and is in love with me. But I cant shake the insecure feeling that maybe he doesn’t since he doesn’t really ask to spend time with me😔 is it normal for guys to not ask their girl to hang out ?