Of course I can't be certain of anything, Nola but I'm assuming that if he wanted to be with you in a romantic sense then he would have jumped at the chance except when you talked about it you both told one another that you didn't have romantic feelings for one another.
I think staying friends at this point is up to you two but keep in mind that it's almost guaranteed that your (which I think is an) unhealthy attachment with one another will cause you both to stagnate looking for romantic partners and when/if you do find someone with potential he and she will likely not be open to you maintaining your friendship as it currently is. No one wants their SO hanging out one-on-one with a member of the opposite sex no matter how long they've been friends. They just don't it's inherent possessivness that is in all of us. Some may tolerate it but I'm pretty sure they don't like it.
So you see if you maintain a "close friendship" you're never going to be able to maintain it the way you desire without problems arising. How will you feel when/if you are no longer his priority?