I feel so bad am I overthinking?

Last night my boyfriend came to see me we started getting sexual and I gave him a bj. I kept asking him to fuck me because begging him turned me on but I didn’t mean to pressure him into it. I wasn’t thinking about it idk. He said he wanted to but didn’t have a condom so he said no. I stopped asking then he was rubbing it on my pussy and he stuck it in and started fucking me. I was just shocked and Idk if he did it because I wanted it. I just feel bad about it. I asked and he said if he didn’t want to he wouldn’t have. But I still feel horrible. If he said no I shouldn’t have kept on. It didn’t seem to bother him. I apologized but he said it wasn’t my fault.