It depends where we are, but if we’re in bed I reach out and touch him. We’ve been together long enough for him to read the meaning of particular types of touching.
If we’re out , I might give him a particular look or say “I think we should go home soon”. On occasion I’ve called him from work to suggest we meet at home before everyone else gets home. Sometimes, I’m very direct and just say let’s have sex. He doesn’t take a lot of persuading! Really, a look or a touch is often all it takes.