I would tell him that I LIKED it when he would walk up behind me and cup a breast, or grab my butt, or kiss me
I've told my h that exact thing many times. That's what led (a few years ago) to me getting fed up and being unresponsive to him when he would initiate. He probably remembers it as complaining and is probably right. One of my notes in his lunch recently said that I liked it when he put his cold hands on my neck. I liked that he was playful. Still, there hasn't been anything like that since then. I'm trying to be more gentle and direct without nagging. It's hard.
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the kisses you give me I could receive from my friends as a greeting (you know that quick peck hello/goodbye)
That is the only kind of kiss I get outside the bedroom, too. I do get a lingering hug, though. He told me once a long time ago that French Kissing outside of making love is disgusting to him. I don't know if he still feels that way or not.