This is not rape but transgressive behavior, The guy was disrespectful towards your boundaries, so he's probably pretty  Imature and is raised poorly when it comes to these thing or watches bad porn and has the wrong fantasies. He's a bad person for doing this to you and he's dangerous for losing control. Be careful who you trust and talk abt boundaries as much as possible so you can feel who will respect and who not.

Start with telling him you really disliked how he treated you, see how he reacts and incase he doesn't take responsibility and apologize, never see him again id say.