Yes, he manipulated John into saying it, actually verbalising...

Yes, he manipulated John into saying it, actually verbalising it, but they both needed it so badly, and John needed help getting it out. And even if Sherlock brought about in a way that was a Bit Not Good, I don’t think for a second that a word of this was insincere. Because look at his face when John finally says it: 

That moment was everything to him. And they’re both so much happier after.