Are all Taurus men like this?

Libras and Tauruses generally get along pretty well, but Tauruses are very stubborn. This guy also sounds insecure. He likes you to sit and listen to him likely because not many other people will. Your reluctance to get serious with him makes him that much more insecure. He's afraid you won't like something he invites you to, so he waits until you suggest something. Next time it happens, just tell him what you've said here. Tell him no, he''s not boring you and, no, you're not having a bad time, you just like doing other things than sitting around and talking, and that you would like for him to suggest more things to do because you'd like to know what's on his mind. You'll have to ease him into it because he's afraid to take the plunge. But hopefully, with some success, he'll come around.