Help md

So I've been on and off with this guy for a little under 2 years and I really just want it to become something. We dated for awhile then we didn't think it was good for either of us so we just became friends but I still have feelings and every time we hangout we are more than friends.. But we haven't had sex yet. I just need advice on what I should do. Should I drop him? Should o ask him what we are? Help