This is a no-fail way to turn a Taurus on...
As a Taurus, you need the physical side of love as much as any other sign. Pleasure, for you, can be found nearly anywhere.
But you also need deeply-felt tenderness, or sex can get a bit meaningless. When that happens, you're bored at best, and unhappy at worst.
Your mate needs to understand that you can be a sex machine at times. But you also need the cuddling afterward, as well as the hand holding and back rubs. It's all part of sex for you, even if it's not technically foreplay.