friends with benefits? or........?

Aria 🌸
So there's this pretty amazing guy that I've had an off and on relationship with for the past 5 years. In high school, he had a girlfriend for a bit, but then they broke up and he and I have been casually dating for over a year now. We have a romantic history together, which I wouldn't trade for the world. We semi lost our virginity to each other (and by semi, I mean he got it in only about 2 inches before it slipped out 😞) we just tried to do it again the other day, this time in a car rather than on a bed. 
However, given our romantic history, he had never "popped the question" and asked me to be his girlfriend yet. Should I be worried? Should I continue on with this relationship? I love him dearly, but you would think he would commit after 5 years....
I am wondering if anyone has any tips or advise to give---on my relationship and on how to successfully GET IT IN!!! 
Thanks! You are all beautiful people 😘

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