It sounds like you entered the relationship for the wrong reason albeit that doesn't mean this is not worth saving.
The obvious question after three years is, do you love him.
Provided that you do and have not just (cruelly if he is not aware you don't) wasted his time then what you have to is accept that a 'chilled' relationship where you avoid stress by avoiding the fact that relationships should progress is not a serious relationship. It is a placeholder.
Once you accept this you then have to evaluate if you can progress and determine which issues can be resolved and which cannot.
Issues which require 100% agreement are things like timelines (I want to live together by the end of this year, I want marriage by x and babies by y, my ultimate goal is to be a careerist in London or to raise my family in rural Wiltshire ECT..). Issues which can be resolved are those you've raised such as 'i want you to take me out x times a week or I want to travel with you'.
In short, you need to have a serious conversation even if the relationship will no longer be 'chilled'.