Ohhh, why does this remind me of
My Best Friends Wedding aha! Both too shy to admit their love - until its too late!
Well, if I were you, I'd confess my love to him and see if he feels the same way. If he doesn't, be strong and tell him you're lucky to have such a loving friend anyway (& continue forth with normal living!) It seems from what you're describing that he at least cares deeply for you - so even if its just platonic, he would still be gentle enough with your feelings when you confess your love.
You have nothing to lose. If he says yes, you've got a wonderful lover. If he says no, you've got a wonderful best friend