Do I pull it out for him or is he not ready?

My boyfriend and I have been together for a while and he has honestly been so patient but lately I've been giving him clues that I'm ready. We've been pretty close to doing it a few times but he ends up kind of pushing me away. I think it's cause he doesn't want me to be rushed into anything considering I'm a virgin and he isn't, but I'm definitely ready. Yesterday he was just in a horny mood and his hand could not get out of my pants and he literally fingered me for like an hour. But never once did he try taking his dick out and that bumbed me. I feel like going in and taking it out myself but what if he just looks at me like if I'm crazy? Should I do that or not?