I feel bad.... Advice please

Well anyways a few hours later we talked and he told me that he regretted it but he didn't. I asked why does he regret it and he said it's because he wanted to wait some more years. Which I get I respect that, I know we aren't gonna have sex again. 

But it made me feel really bad. Like I have a really high sex drive myself like HIGH as idk what to even compare it too. I feel like I need to get help lol. But back to the point I do feel bad and it's been heavy on my mind since he said it. I'm kinda scared to even touch him past giving him a hug now. I don't know how can I get rid of this feeling. I don't even know how to bring it up to him without sounding childish because I feel like I do. I'm just nervous now.