How can I initiate in the best way?

(19F) I’ve always had issues with initiating, not like I didn’t want to but I literally just didn’t know what to do. My go to is just wait until we’re cuddling and I’ll kinda rub my butt against him until he’s hard and he’ll just get the idea and we’ll start. But I want to actually take control of initiating instead of waiting for him. I want him to know I want him. He’s also mentioned to me a couple of times he wants me to initiate some more than I usually do cause he’s usually the one who mostly initiates it. I struggle with it so bad sometimes that I won’t initiate at all even though I’ll be super horny.