Is there a term for what my wife and I did?

Hi, last night I was in the mood and my wife was tired. She was naked (we often sleep naked) and I was feeling her all over getting even more turned on and I told her this would be so much better than using my imagination or any porn, is to just be able to feel her all over her body while I jerked off sometime. I honestly didn't think she'd be into it but she told me go ahead.

She said do whatever I want, and we talked for a bit, I was making sure it wasn't going to get me in trouble or anything, and she legitimately wanted me to, said that it sounded like a lot of fun and was perfect because she could just lay there.

So I started feeling her all over. Rubbing her body, anywhere I wanted. I rubbed around her asshole, her pussy, her tits, etc. She didn't want me to give her like a proper fingering or anything, so I stayed mostly outside with the occasional insertion and clit rub.

She told me not to hold back, so then I came all over her chest and stomach, and then started rubbing my cum all over. She enjoyed it for a bit, then complained she was too cold, said it was like the opposite of icy-hot in that it was just a freezing cold gel after a few minutes.

After we cleaned up, she told me she wasn't expecting me to hold back as much as I did. I asked what she meant, I said I rubbed her asshole pretty hard (she always enjoys this), I grabbed her boobs, played with her pussy as much as I thought she wanted, I came on her... it just confused me a bit because I felt like I was going a bit more rough.

So I'm trying to figure out if there's a name for this sort of thing, so that I can... "do more research" to see what I could do to "not hold back". I've tried just talking to her, because she and I have great communication, and she said she didn't know what she was expecting, but it just felt like I held back on my fantasy. She did reiterate that she didn't want it to turn into a full fingering or fucking or anything else.