"I want to see more of you" Conundrum

I have been talking to this guy on and off since June... mostly just sleeping together from June till about September.

He has something very traumatic happen to him and I tried to be there for him as much as possible and I don't know if he had a change of heart.

The next weekend I was hanging out with him and his friend (he wanted me to come with them) celebrating his birthday. He said to me "you are too good to me" and actually kissed me in public (which he has never done before.) We came back to my house and he said to me "I want to see more of you. It is really hard for me to express myself and open up to people." This was like music to my ears!!! I've been waiting for this since June.

I've been playing it cool, but I'm confused. He hasn't asked me out on an actual date yet. He still comes over after 11 pm or I go to his house, but stays all night into the next day; of course we sleep together... its too good to not!!

When we lay together he strokes my hair, looks in my eyes, kisses my forehead, holds me... relationship stuff as my friend calls it.

I'm confused if it's a hook up situation or are we on the right track for a relationship?? HELP!!!