Most Helpful Guy
The thing is he can like to talk to you but may not be in love with you.
I don't know the backstory of course but if you guys can talk in this way you fully understand each other and you actually brighten up your lives of each other than this is worth it. Ever thought about the fact that he might be afraid to actually break the nice flow you guys got now? If he can't guarantee you love but he does not want to stop hanging out with you than friends might be a great option. Even though it might causes some awkwardness every now and then.
Most Helpful Girl
Asking to see you/hang out doesn't mean he likes you as more than a friend. He hasn't done anything that would imply romantic interest. He didn't tell you that you need his permission, all he said is that you shouldn't ask him. Maybe he feels like he's bad at giving advice. Him saying that he wants to "hang out" makes it extremely casual. If he liked you and wanted to date you, he wouldn't use "hang out". Also, he already rejected you once, which is a pretty big indicator of the fact that he only likes you as a friend. Only stupid people reject people they like.