I have trouble socialising, so perhaps aren't the best person to give advice on this, but here goes anyway

Why don't you ask him where he sees things going over coffee one day. Say that you value his friendship and really enjoy hanging out, but because of what happened you're a bit confused about whether you're just friends or if there could be something more.

It may be that he's just as confused. In that situation, I'd probably love hanging out with you, would probably want more from the relationship, but be absolutely terrified about losing you if I suggested something more.

Just my 2 pennies worth. Not sure how useful it is as I'm inexperienced and probably incredibly naive when it comes to situations like this.