Did he want to have sex with 'me'?

Last night was prom. After 'me' abd my boyfriend left (the prom) we started kissing and making out in his car then he put his seat back and it was like flat, then he asked 'me' to lay on top of him. I was able to feel his***** hard, but I just didn't know what to do /say so I just went with the flow and I laid on top of him and were kissing and making out. Then he started tickling 'me' while I was on him and I'm super ticklish so I started moving and it felt like we are doing it.. We have been dating for 2 month and he already told 'me' on several occasions that he loves 'me' and have plans for summer, snd that he would Do anything for me. He always tells me that im hot, and wants to stay with 'me' forever , beautiful and smart..We are both 19 and never had sex together.. What did his actions last might mean? Did he really wanted to have sex last night? Why did he wanted 'me' on top of him? This is not our first time making out. Please help!!!