How do I motivate my boyfriend to want to experience things with me from traveling to even just going to see a movie?

We have been dating for 4 years, he isnt one that likes to be pushed into doing things. I want to go on hiking trips or start taking our cars out to the tracks or just traveling or even just going see a movie. But, he wont do any of these things I have always known he was quiet but, as our relationship has progressed he has become less and less out going. We do not go see movies anymore. He hate clubs He hates being around too many people and rarely wants to hold my hand in public he will not step foot in a store unless it is a grocery store (which I have to have a REASON for him to go with me). Although if he his friends ask he will go no problem. We never fight and I never want to be the needy girlfriend although I have asked him recently which he did say “sometime I can be needy”. So what now I understand not everyone wants to go to the club and not everyone wants to go do out door things, but Although I know I could do these things with family or friends. I would love for him to see and experience these things with me. How do you push someone to get up and do things without pushing them away?