What to do?

My brothers's best friend comes around often and even spends the night. We all hang and chill. There was one night that he walked in on me pantless in straight panties and walked back out. Of course i was embarrassed. Now i wont lie i have always thought he was really attractive but today i found myself having my 1st naughty dream about him. What should i do to avoid awkwardness? A part of me does want to act upon these dreams. Should i just go for it the next time he spends the night? (Hes also younger than me.)