I like to fuck, and I don't mind hearing/saying the word in a hot 'n steamy request.
Hump, no... that reminds me of "dry humping" or something else dumb like that.
One of my favorites from my bf, though, is "I want to be inside you right now." ooooh that one makes me weak in the knees.
EDIT: JustJess is right, most of the time no words are said... just a shift in mood when one of us starts getting more intense about kissing... mmm I like that.