I need opinions please

So there’s this guy who’s been a friend of my mom’s for 8+ years now. He’s younger than her but older than me, I’m 23 by the way. He currently lives in our house, long story. While my family was away on vacation it was just my daughter, him and myself home alone all week. He’s truly awesome, I’ve ALWAYS been able to be 100% my genuine self with him, even now. We grew closer throughout that time. That Friday night we were drinking and having a good night, we cooked dinner together, ate and then I got my daughter in bed. He’s amazing with her and she loves him. Well Saturday morning after waking up completely sober we had sex. That was a day before my family was coming home. I’ve never looked at him and thought about sex or relationship or anything else like that. He looked me in the eyes and no lie said “Why have we not done that sooner?” He’s always been my mom’s friend. Well the 18th was the first time we had sex. The sex is amazing and I definitely do not regret it and neither does he. It’s happened on and off since then. I’m trying to figure out what this is. We live in the same house but we work different schedules. We don’t like texting about this stuff we prefer talking in person however our schedules don’t make that very possible. He has no problem with me coming in his room for anything including just to sleep. Some mornings I get home from work and go in his room he’ll be passed out. We play around, cuddle, randomly kiss, have sex he’ll randomly grab my butt. We make eye contact during sex. I’ve gotta be honest I’ve never been more comfortable during sex. He asks if he’s hurting me or if I’m ok and it doesn’t turn me off. I dont want a relationship and I don’t know what he does or does not want. We haven’t talked about it. Can someone please tell me if they’ve experienced anything close to this. I need some serious advice. Thank you in advance.

Also this has not changed how he acts towards my daughter.