I just always knew, even though my parents didn't say the words a lot. It's a huge deal to feel loved, and I am so grateful to them for that gift!
I think about this a decent amount in the context of my own kids... I used to wonder if there is something specific we should be doing so that the kids know that we love them. Over time, I realized that maybe feeling loved isn't always one thing... sometimes it's more about the little things (at least for me).
Big gestures can matter too though: my dad went to all of my football games when he wasn't traveling, and that made a huge impact on me.
How did you know your parents loved you?