Should I wait?

So I've known this guy for about 4 years now. We have dated once but split because we were young.. we still are but not as young. He's 19 about to turn 20 and I'm 16 we have talked about dating and both agreed that if we were we would wait until I was closer to 18 he said maybe 17 1/2. I really like this guy he isn't the cutest of them all but his personality makes up for it. He's super sweet and way better than any of my ex's. But I'm kind of scared that waiting could make it tough and add tension between us or it could help us get closer. And I'll be honest yes I do love this guy I don't even know why I'm asking I guess I just want some other opinions and some reassurance because all my friends want me to date another guy.