Healthy or Toxic

My ex and I just recently rekindled in a way. Was together for 3 years things went bad took a break and somehow found our way back but it started of as friends then we both could no longer deny the feelings so then it turned to sex and Visits and pet names like baby. He’s made several staments and we’ve talked about how we didn’t want to just stay friends he has expressed before that he would like to be with me but I’m not sure how to ask if he is ready for a commitment again. I know you can grow and work on the relationship without a title but I would like the security of his commitment he says everything shouldn’t have to be explained but I need some sort of agreement that says we both are not just fucking around wasting time. So if you guys know how I can start that conversation please tell me because I’m getting more confused and anxious as time passes