Is this sexual assaulting my partner?

I feel shitty now. My friend asked for advice to spice it up and I said that sometimes I get naked ass up face down in bed right before my bf gets home so he walks in and that’s all he sees. He usually just jumps right in so I didn’t see a problem with it but my friend said that’s technically assault because I’m pressuring him into having sex without getting a verbal consent. I kind of see her point. It would be awkward to say no to that. I just feel bad. My bf told me it’s fine to keep doing it but it’s.. weird now 😞

Thanks guys ❤️