Saving himself

So my boyfriend and I are in a very healthy relationship right now, but in every realationship someone may want more from the other. If that makes sense? We do all the basics, cuddle, kiss, make-out, just the simple stuff; but I can understand that he doesn't want to have sex before marriage, or do anything like grinding. Thing is, I do want to try some of that stuff with him. Find out the things I'm comfortable with. What do I do without making everything so awkward 🤦🏼‍♀️