If you are REALLY afraid to get hurt then dont. but if you really want this guy....do it.

If you've had a great relationship so far...and are willing to work hard to continue the friendship..along with a bf/gf relationship...then i say go for it.
You seem like you like him a lot...and if he wants to get together then he probably likes you a lot too.

Well, good luck with everything!
I hope it works out =)

Neha