It was so exciting when he took the lead in bed

My boyfriend and I have been together for five years. The sex is great, but we know what we like and we stick to it. 

When we first got together he would always initiate sex, and I miss that passion.

It’s not that I prefer casual sex — I find sex in a long-term relationship much more exciting. How can I encourage him physically to act like that again? If I spoke about it, he’d take it personally.