I'm a Taurus too, dating a Scorpio man. We are very compatible however at complete opposites like fire and ice!
Scorpions are very sensitive and magnetizing.
Their words can be taken totally wrong, and yes they are hard to get close to. They are not big on words, so thanks and saying he cares it his way of showing it .
However being a Taurus, we are very loyal. They love it, so build your trust with him, but don't overwhelm him with your earthly nuturing ways as we often do.
It takes a very long time for scropions to give their heart out. We offer ours on a silver plater, without hesitation..
And when they sting, oh boy can to they sting, they loose it much easier than we do as we're subborn. They are quick to fly off the handle.
I wouldn't say that they are smarter or mature in any more ways than we are, but yes moody, which we aren't. We adapt easier, they are less tollerant.
Share as much as you can, be honest, tell him the truth by telling him how you feel.
After a long time, he keeps you around, continue by showing your compassion to break the walls around his titanium heart, once bitten twice shy they are.
We are trustworthy companions. Look at the traits of both. Its ON of OFF with them, where we can coast. It's worth the wait, trust me my friend. You won't find passion like that with many other signs.
Best of luck, you bring him good fortune, just be patient and you will see his true colours.
We on the other hand are very forgiving.