You're not going to find anything out by guessing or thinking about it.
You either effed it up for good, or you didn't.
Only you and him can sort that out, and for that to happen, you need to talk to him.
Personally, don't pretend it didn't happen, that ticks me off. If someone does something, I want to know why, and what it means to me. Period.
If I'm left guessing and wondering, I'm not going to be very open to letting it get very emotional.