Should I ask him out?

I'd say slow your role on this one. It sounds like the guy is giving you some clear cut signals that he is not interested in expanding his role in this friendship.

You may be right, in fact, you may be right for each other, but a relationship takes two,and if he's not ready to tango with you,than let the friendship continue.

who knows, maybe the guy will find a girl, and come to you for relationship advice and end up realizing that you are the right one for him.

but for now,let him make the first move.

Let him make the first move, if he wants to. From the sound of it, he isn't too interested in a relationship with you. Who know though, maybe sometime in the near future he'll realize he does like you.