Should I be allowed to sleep over at my boyfriend's?

We're both adults, 20, and in college, but go to two different colleges. We hardly see each other due to the distance. 
I told my dad I was sleeping over at my boyfriend's place this weekend. He said he can't approve or give his blessing, and thinks if I'm not sleeping at college I should be sleeping at HOME. But he isn't mad, and he said to do what I want and what my heart wants. 
If I'm an adult, why can't I make my own decisions freely? Am I wrong to do this? 
PS---this is coming from parents who never allowed me to go to a sleepover. 

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