Some guys have a hard time initiating a date/contact. Often when they are a little nervous and really like someone.

If you really like him, you should ask him to go out sometime. Some guys are nervous in the beginning, but are great mates when the whole beginning courtship is over.

I'd give it a chance and see how it goes. One or two meetups can't hurt family relations I would think.

That other girl is probably just some friend. And he became pale probably because he thought that you now think he is going out with someone else. That probably bothers him, because he likes you and not that girl.