Was it rape or

Hi, I have a boyfriend which I often spend lots of time with. He is kind of aggressive as a person, which he often apologizes for. He also often joke about rape which I now understand is to check abt where I stand. I often ignore him or ask why he say such things. Today, he wanted to have sex with me. I was very tired which I had told him and he even talked about how low energy I seem to have. So I barely said anything or so, rolled over to my side. He then started pulling my shorts down a bit and did his thing. Afterwards, he was very weird and said “I love you” in the span of maybe 5 minutes. Was this just to check if I’m mad at him for it? I don’t know what to say or react. Is it rape or what else?