You need to set boundaries

We touch all of the time. Not sexually, but hand holding, hugging cuddling, laying in my lap, walking arm in arm, we sometimes kiss each other's foreheads and hands depending on what we've been talking about, which is usually something deep. We sometimes fall asleep together, holding hands or just laying close. When we stay at each other's houses we usually sleep together in the same bed.

If that is not sexual then I don't know what it is .
Your like one step to making out or having sex ..

I feel like you should not do this because you are going to get hurt at the end .