Molestation...please no judgement

I've struggled with trying to comprehend this for a long time because I've always been confused on whether it counted as molestation, and also he's a close family member so im extremely embarrassed. From the age of 4 to 6 I had this close bond to my cousin. But I remember him asking me to touch his penis and kiss him. I didnt know any better at the time, but even though I was so young I knew it wasn't right because it didn't feel right. We would makeout and he always insisted to my grandmother that we'd sleep together. But what has lead me to be so confused after all these years ( I am now 18) is that he was the same age as me. I don't know if this was a case of us being innocent kids or actual molestation because of the closeness in age. At the time I found myself getting jealous when he'd be around other cousins or girls, at 4/6 years old..I've recently thought about the whole situation and I'm so confused. Was I molested and is it possible to call it molestation if it was by someone of the same age, and such a young age at that. Why did I gain jealousy over him at the time as if I liked it?