Sleepovers?!!

I am 19 years old, my boyfriend is 18. We have been together for 2 1/2 years. His parents are open and always encouragin us to better our relationship and do what makes us happy. My parents... Had me at 18 and rule my life like I am 5 years old again. It's frustrating because I can't even ask about starting to have a weekend sleep over at my boyfriends place because they just freak out, but they have no problem saying "you're and adult, not really y responsibility anymore, do what you want". I am sofristrated and I jut don't know what to do... i am missing out on a big part of his life because if this (travel hockey player), and he is missing out on mine (travel fiddle player competitir), they even don't want him sleep in a different bed!! Opinions and help on how to handle this... We rarely have sex as well. Never had any pregnancy scares either, We are really safe!