First time mom question 🙃

This might sound silly.. so forgive me if it is, but is it safe to poke st my belly to try to get the baby to move... like I said I might sound silly but I'm really curious also any advice on how to make the baby move without poking would be greatly appreciated, I'm 21 weeks now and feel him flipping around throughout the day but yesterday he kicked me so hard I actually saw my stomach move and I'd like to get him to do it again but idk how!!