Should I ask my boyfriend to come to bed with me at least once or twice a week?
Maybe. How will you ask him?
I'm planning to motivate him by giving him an incentive.
It is good to spend time together in a relationship and intimacy is important in a relationship. It will help you be closer.
Ok. 'Cos I have to bribe him to do anything with me.
He shouldn't really need a bribe to spend time with you. This is something he should want to do just out of love. You might want to make sure he's serious about the relationship.