How do I ask?

I’ve been casually dating this guy since June and it’s been a lot of fun. We both enjoy being around each other and hanging out together. Not to mention the sex is great. He was going through a pretty rough patch when we first met and was upfront with me and told me he couldn’t do an actual relationship while it was going on, which I was completely fine with. Now that rough patch has cleared up and he’s been inviting me to hang out with him and his friends. I’m kind of over the casual thing, and want more. How do I ask him if this has the potential to be anything more? I’m sure he talks to other people, as people do when they’re casually dating, but I want more and I don’t really know how to articulate that without making him feel pressured.