A little embarrassed but need advice 😂

So I’ve never had a relationship start without sex or be so unclear. I recently met this guy and we went on one date but he wasn’t even clear if it was a date or not and then he held my hand, we cuddled while watching fireworks, and then he kissed me good night. That sounds like a date right? Well when is a good time to ask what his intentions are? Is one date too soon to ask him if he’s interested in a relationship or if he’s just trying to date around?