Want my husband to be more assertive

My husband and I have been together 7+ years and have a great sex life. We have been together since we were both 14, so we’ve learned everything about sex with each other.

But he is very nervous when doing things. He never just goes to eat me out when we start, hell ask “do you want me to eat you out?” Or “what do you want?”

I wish he’d be more assertive. That is so attractive to me.