with my boyfriend

so i have been dating this guy for a while now hes really fit and we work out all the time at the gym. one day we were at home watching some workout porn and suddenly he starts jacking off in front of me, his cock was so hard and big. i got turned on too and started fingering myself but then hes like come here baby and pulls me close to him, slides my hand down onto his dick and tells me to stroke it for him while he watches. we end up having hardcore sex right there on the couch, him pounding into me from behind with no protection because neither of us are worried about babies or stds at our age. afterwards i was thinking is this normal behavior between partners? have you ever done something similar or anything that made you question if youre doing okay as a couple?