I'm not sure I see the disconnect. Your description of the event makes it clear that it was consensual, and you both were happy before, during, and after, so why shouldn't this type of sex be on the menu?

Yes, your participation was more passive, and I think most of us would agree that the "best" sex is active on both sides. But sometimes it's nice to let your partner do the work while you just lie still and enjoy the connection.