Try to be friends or mess around??

So I used it mess around with this one guy. I kinda liked him but it was never anything more than hooking up. We lost touch for a few years but we started to talk again lately. We said we wanted to try to be friends, but  I've been very sexually frustrated lately and kind of want to hook up again. But I also don't want it to be just that. I don't know what to do please help. Should I mess around again or be friends first and see where that goes?