so there's this guy...

There's a guy who I'm so confused about! I'll call him R.
I'm 20 and R. is 23. I've known him all my life- his parents and mine go way back! R has a sister my age so I was always sent to play with her, but by the end of high school and into my freshman year of college, R and I became much closer. 
We're from New England but R went to college down south and stayed when he graduated. Once I was 18 we got very flirty; I think the age gap before that would've been a little too much.
We kissed for the first time on the New Years eve before last, so going into 2016. Then last summer I visited my grandmother in South Carolina and he drove four hours to come see me for the weekend- of course we hooked up then too.
We both see other people, but we usually joke about it to each other. He says that I'm the standard he uses to judge other girls. 
I've dated guys at school in the north, but part of me always feels like I'm almost cheating on R. He makes me laugh more than anyone, and we communicate more than I do sometimes with even my best friends. 
We send racy snapchats and flirt and talk politics and Star Wars and tease each other. 
I can see spending my life with R, but we've never talked feelings. Other than the flirty messages and snapchats, we don't even really acknowledge that we've hooked up. 
I feel like I should tell R about my feelings, but I also don't want to ruin what is at its core a wonderful friendship. 
I feel like if I wait too long to say something, like until I graduate college, I'll miss my chance.
Also, I'm pretty sure all four of our parents know that something is going on with us, so dinners together are super awkward 😂
Sigh. Can anyone help me understand boys or give me other advice? 
Love and thanks 🙏💓

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