Touch is a good start. You have "playfully" touched each other. Now you want more. That's good, but more physically or emotionally? The physical can lead to the emotional.
Try rubbing his neck and back before you jo but when you are unclothed. I would suggest that you get close to him when you jo. A knee touching his leg for a start. Then you can either start o touch his upper body while JOing or start to watch his technique and watch him cum. Make nice comments about his cock and cumming. You can tell him that it feels better when somebody else does it. Go from there.
Next time when you horse around grab his cock and don't let go. Try to get him hard (a couple of squeezes for a start).
That's fine for the physical. If you are in the throes of true love the only thing you can do is be honest with him and tell him how you feel. Love does not lie, love does not hide, and in the case of love, the truth will set you free.
All my best, I know it is scary.......