I'm not really understanding your feelings...I understand you don't want to be a couple with him, but what is prompting you to want nothing at all to do with him? That might help me in helping you.
Anyway, if you think there was a misunderstanding in boundaries (which I believe there was...I think he may've read more into it than what it was, which were it me, I don't blame him. lol We guys are rather simple creatures at times

), the best thing to do would be to simply tell him (gently) that you don't see him as a romantic partner, and that you value his friendship and wish to remain friends. Just friends. lol Basically, friend zone him.

A word of forewarning, he will likely ask you why you two kissed if that's how you feel. You'll need to be prepared with an answer to that.
Wish you both the best. Good luck!
Harley