I don't know if this was a date but this guy asked me out to dinner, so we went out and ate and talked, I didn't talk a lot tho because I was really shy and nervous (that's where I feel like I messed up) so after we are we left the place and then he walked me to my house and we hugged and he said "see you later" should I text him saying "I had a nice time today/yesterday and sorry that I didn't talk a lot I was shy and nervous" or should I say something else? Or should I say nothing at all and wait for him to message me
Don't bother waiting for him to message you. It is possible that he thinks he screwed up during the date because you are being so shy and reluctant to open yourself to him. Observing that, your guy will be discourage in asking you out again thinking that you do not enjoy spending time with him and thus he will give up the chase.
Of course, do tell him that you are shy and nervous.