Should I go for it??

My Best Friend

I recently stayed the night with my best friend. We had sex but we also watched movies and hung out. He took me to subway so I could get some food that I can eat. I called my mom to see if she needed me home to do anything and she yelled at me. I started crying in front of him and he held me while I told him what happened and how it makes me feel. He gave me a kiss and took me home after he got back from his sisters place. I think he loves me the way I do but we never really had the chance to explore a real relationship nor have we talked about it. He makes me feel extremely safe and I've always been able to be myself with him. I am in love with him and idk what to do. He's amazing and so kind. He's everything I want but idk how to ask him about trying to have a relationship