It sounds like he has devised a way for you two to be intimate and pleasured without any disappointment about aging bodies. However, if you would like to try intercourse with him, simply suggest it. Let him know that sometimes, not all the time, you would like the experience of penetration. Ask him what he thinks, and if there is something in particular about which he is concerned. Let him know that you realize it won't be the same as when you were twenty, but that you'd still like to have the experience sometimes.
Communication is key.
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