Is it okay to initiate contact first?

I'm going to be honest, I have a hard time adjusting to the truth so any guy that like me I always think he's a liar and he's just like the last guys due to the fact im trying to avoid from getting hurt. I admit I was being a little annoying assuming stuff when it really was the truth. I'm ready for a relationship but I'm all about action. My friends say "don't contact him let him contact you to see if he thinking about you or not" I don't like playing the waiting game. He texted me first most of the time when I haven't. Should I be the bigger person and apologize? He said I was getting annoying and im always assuming stuff. I regret comparing him to other guys. What to do or say? Is it right to initiate contact first? I'm just so use to getting hurt