the other day my crush left me a note "we must take adventures in order to know where we truly belong " I really need to know what he means
If you really need to know, then you really need to ask them. That's not a question any random people on the internet can answer for you.
I think he wants you to consider some innovation (oral sex: fellatio; different positions; glamour & initiative on your part) or possibly something at a higher level: threesome; full-dress fantasy; heavy role playing. Experiment! Get out of the nineteenth century. - JKHolman
he wants to know you better more dates more time together in different situations more conversations he wants more of you
Yeah I agree with most of the other cats on here, you just gotta ask him what he means. Trust me on this, communication is the most important thing in any relationship. Unless there is no relationship