Caught in a Kiss and Feeling Guilty

So here's the thing, my girlfriend and I have been dating for about two years now. We're both still in college, but we've decided to take things to the next level by moving in together after graduation this summer. We've talked it through extensively and feel ready for that step. But there's one thing I haven't told her yet, and it's been bugging me a lot. About three weeks ago, my roommate was out of town for a few days and she left us alone in the apartment. There was just something about being by ourselves with no distractions or interruptions that made everything feel... amped up somehow. So one night when we were hanging out, I couldn't help myself. We started talking and then making jokes and teasing each other playfully. Before either of us knew it, she had me pinned against the wall in a super intense kiss, our tongues dancing, hands roaming. It was incredible but also felt slightly illicit since my roommate's bed was just down the hall. In that moment I got hard as hell, which made things feel even more taboo. She pulled away and whispered that she wanted to take it slow for now with our new living situation coming up soon. We cooled down and went to sleep in separate rooms. But ever since then, every time we're alone I get this sense of wanting to push the boundaries further, to be adventurous together. So my question is, am I being a terrible boyfriend? Is it okay for me to still want to explore more when our relationship feels so solid already? We have big plans and dreams but sometimes those intense moments feel like they're taking us out of reality into something more secret. Should I keep pushing forward, or reign myself in?