How to set down groundrules with my scorpio?

I'm a Libra but I dated a Scorpio for 5 years. He was and is the most loyal person in my life. Even after we broke up, he still is the one person I can call on who will drop everything to come to my rescue. That was one of the things I loved about him. In private he was extremely affectionate towards me. I never had to initiate physical contact with him. He always wanted me close to him. He could not be in the same room with me and not be touching me. But in public he was not like that. He would let me touch and hug him, but he was hardly ever the one to initiate it in public. Just go for it. Let him know how much you love him. They love affection and I don't think he would turn you away. After 5 years with my Scorpio I still feel like I don't fully know him. Scorpio's are such private people. But I do feel secure in the fact that he will always be there for me and he and I will be friends for life. As far as jealousy goes, you both just have to trust each other.