The trick is, if you're going to do the initial asking is to not fall into the habit of ALWAYS being the one pursuing. There is no harm in asking him out but there certainly is in being the only one that is showing interest or the only one initiating the advancement of that first invite.
If he is interested then he'll let you know in actions like asking you out the next time, texting you first without you initiating further contact etc.
“The willingness to accept responsibility for one’s own life is the source from which self-respect springs.” ~Joan Didion