My advice would be to just let it be what it is for a while. Don't expect anything and you won't be disappointed. Just talk and get to know each other for now. If romance blooms, then you can develop a relationship.

You need to remember your self-esteem comes from YOU. No one can fix that for you. Having someone care about you can help in a way. If the other person truly likes/loves you, that means there are good things about you. Even if things don't work out in the long run, you still have whatever it was they were attracted to. You're young, don't be in a hurry for the future. Any good relationship has to have a strong foundation, and getting to know each other and trusting each other is what forms it.