Advice for a relationship

For the past 3-4 years there has been a guy in my life that I liked and he likes me. I thought I’d ask him out but he told me he wanted to stay friends with benefits. I was fine with that until recently. I want people to know if I’m dating someone but I feel guilty for trying to pressure him to date me. Should I end things with this guy? Should I move on even though I’ll feel super guilty?

Another detail is that I’m close with his other friends and I work with one of them. And I don’t want it to be awkward with them