Like you said, just take initiative and be assertive.
Very, very, rarely (if ever) will a guy turn down sex, given that both of you are single (or dating each other), and you know he likes you.
One girl I brought home, I put on a movie, within 5 minutes into the movie she just pushed me over on the couch, straddled me, and we got going. Amazing. Didn't have to deal with any of the "when should I move in.. should I wait longer.. does she even want to.. should I get a blanket.."
And of course all the other suggestions above will work too
