He's interested in a soulmate.. thus he's looking for a long term relationship... he's just unsure if you are... and he doesn't want to make any promises as he doesn't know you very well...
YES... you should go out with him again... he sounds like a great guy...
"The weakest soul, knowing its own weakness, and believing this truth that strength can only be developed by effort and practice, will, thus believing, at once begin to exert itself, and, adding effort to effort, patience to patience, and strength to strength, will never cease to develop, and will at last grow divinely strong."
- James Allen