Friends with ex

So me and my ex decided to end things after 3 years because we realize we arent ready for a serious relationship.. He never had time for me and I felt dependent on him because I wasnt focusing on getting the stuff I needed done for myself... Hes a great guy, immature in ways, but as a person hes great.. He still loves and cares for me too..Anyways I miss him like crazy and Im wondering if we could be friends.. Has anyone done this with a partner until you two were ready to be in a relationship again? Im worried ill end up sleeping with him again or kissing him but I miss our friendship so much... Hes not the kind of guy thats into hook ups at all, (im the second girl hes been with) so im not really worried about that and hes told me that hes not getting into any relationship until he feels ready like me.