What do I do

I dated this guy in hs for 2 years we broke up because I msged my ex . That was 6 years ago however we haven’t lost touch. He had dated other plp so have I but he through all these years he always reaches out to see me but when the day comes he dosent come. But some times he does . Is like is always mixed signals he says he is over me but then he msged me to meet up . Last week he invited me to eat with his friends and him . I came and I saw him for the first time in 3 years. It felt like we never broke up and he kissed me. I am so confused and scared like I like him a lot but I am afraid he’ll reject me and I would be devastated cause he’s amazing . What should I do do I let it go or msg him?