I think it more to do with him marking territory. Like the first time he was on the bed, he peed to mark new territory. Beds and sofas can be problem areas as rabbit strongly associate them as being our territory.
He must have felt he adequetely marked it the first time if he didn’t do it again the other times he chose to go up on the bed. (Lucky you! – normally they’ll continue to mark for a while).
The times he then peed there again are when you are on the bed with him? In that case, he is re-establishing territory and even marking YOU. Rabbits might urinate on or spray another as a way of claiming another. Sort of a compliment but not one we want to encourage!!
If you find it easier to hang out with him while he’s up on the bed, try laying a shower curtain or vinyl table cloth on the bed first and put a litterbox up there also. But if he keeps marking, you may have to make the bed a no-go zone for him.
He doesn’t like being touched much but I think he express his affection sometimes by licking my face for minutes long when I lay down on the floor next to him.
Wow! That is quite the compliment. He is grooming you. He obviously trusts you a lot. : )