Any tips on how to initiate?

Usually when i have sex, the guy im sleeping with does all of the initiation. Im pretty submissive and like it when a guy takes control. Sometimes ill be in bed with my FWB, and im super horny even though we’ve already had sex just a few hours before. Were cuddling and talking and his dick is hard. I want to initiate but don’t know how and just shy away, because i always fear that maybe he doesn’t want to sleep with me (Even tho wed have sex twice in a day or something). Ill usually just look at him and rub his dick or something and he’ll smile, but i feel weird leaning in for a kiss first and being the one to dominate, so i never take it any further even tho i feel like he’d be more open to it. Any tips ladies? Have you gone through anything similar?