My response to your question is that it is best to simply ask this to your lover (most men will not only appreciate this question, because it will demonstrate to them that physical intimacy is important to you, and will most likely also provide you with great feedback). Only he can tell you if he is satisfied. Now, if you or him are really shy (to ask/answer such questions) or feel uncomfortable asking that question, then I tell my readers that if he is not complaining, then most likely he is pretty happy.
Some men have very simple needs when it comes to sex but that does not mean that they would not appreciate more or different sex, so if you want to try something new and different go right ahead. If he does not stop you then it is a signal that he likes it too. The beauty of sex is that it is something that a couple discovers together.