You need to be comfortable communicating about sex. Then you simply say "let's have sex" or "you wanna have sex"

>I'm considering just being blunt and just saying "I want to have sex"

Just say that!

You could just agree when you move his had on to you in the future it’s go time, you could tell him to kiss your neck or have phrases that mean you are in the mood “let’s have sex”, “get your arse upstairs, I’ll be up in 5 min”, “me snu snu now!”, etc

It sounds like you have a bit of a lovable idiot. I don't mean that to be insulting. How can he not understand you literally guiding his hands to grope you under your shirt?

Tell him he needs to be more proactive and responsive to your signals. Or start grabbing him by the crotch and drag him to the bedroom.

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I hope nobody gives you a solution because this is too cute to put an end to.

Anyway, his target was lower down, you moved his hand up, he figured you were humoring him with a little bit of touching but were not in the mood for full-on sex.

You both comprehended each other's cues incorrectly, so any communication built on top of that false understanding was sure to go nowhere.

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I’d expect him to have gotten the message but if he didn’t with a boob, he will definitely get the message if you place his hand downstairs instead.

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You can be assertive and direct, without actually saying the words. This one's on you I'm afraid. starts kissing after a few mins, "let's take this upstairs". Just like that. If bro still doesn't get the hint, then I can agree with you that's he's an idiot, otherwise this just sounds like you're confusing tbh.

Sounds like you need to establish a clearer way of engaging and disengaging.

If these signs are being misinterpreted (on both sides), then you should try to find ones that you can both understand. If you don't want to just say "lets have sex" then you could come up with code phrases that essentially mean the same thing.

Mow the lawn = have sex

smell the flowers = just kiss

etc etc.