Serious question. Is what I did considered assault?

Ok so my boyfriend was really mad with me over something I called him and he started ignoring me and went upstairs. So I pushed him on the bed and climbed on him and he was telling me to stop & get off. Then he was trying to push me off but I pinned his arms down and started kissing his neck (Thats a soft spot for him) and then he started to let out moans and groans when I started to jerk him off. After that I slipped our pants off and just started to ride him and he was enjoying it. But I told my friend about our raunchy time and she said I technically raped him but I didn't because he was loving it. I'm really confused did I assault him or not?