Are we too young for you know what?

me and my boyfriend have been getting more and more into our making out sessions.. we were laying on my bed. we both took lead and switched rolling over and things.. everytime he would part my legs with his legs and intertwine them.. this was fully clothed so dont worry.. but when he pulled me on top, i felt him moving against me and he pulled me harder against him and kissed me harder, and we were both going wild, not wild in the sense, but we just wanted more, and little noises escaped both of us, my shirt in the back was riding up and he was running me hands along my back and he knows that drives me crazy, and my shirt was going farther up then he rolled me over, and he took lead again, and he pressed against me parted my legs and i felt him pushing against me... but it was all clothed.. i feel like this will escalate into sex. and i dont know if we are ready for that? HELP PLEASE.