Hey there,
Whether you like someone just as a friend or as something more (like your boyfriend), making decisions that could affect your relationship with them is really hard. In this case, I can understand that you're concerned that your boyfriend won't want to be in a relationship with you if you aren't quite ready to go as far as he wants to. However, I don't think you have to necessarily jump to that conclusion. For one thing, you heard this from his friends, right? As strange as it may seem, there are definitely times when communication gets misunderstood and that could certainly be the case here. The short answer is that YOU need to talk to your boyfriend about this, instead of hearing it from his friends. I think that will ultimately calm a lot of the things that are stressing you out. At this point, you are uncertain and that is what is causing you the most stress. Worry about relieving that first and then decide what you are going to do based on what your boyfriend says. Also, keep in mind that just because he has said he WANTS to go a certain distance with you doesn't mean that he isn't willing to slow things down if you aren't ready. As cliche as it may sound, a true relationship has to based on a a lot more than just physical attraction. If all he ultimately wants is sexual favors, then you don't need a relationship with him anyways. However, like I said before, it's quite probable that he would be willing to make changes in the things that he wants in order to stay with you.
Ultimately, it's up to you. Regardless of the situation, I would definitely encourage you to stand your ground and stick to the things that you're comfortable with. If he wants to go further than you're ready to go, say so. There's no reason that you should have to subject yourself to a situation that makes you uncomfortable, even if it involves your boyfriend. Best of luck and please feel free to send me PM if you want to talk