Most Helpful Guy
It is beyond friendly but it's not 100% clear whether it's more affectionate or sexual because it somewhat falls between those two camps. You don't touch an inner thigh without at least some sexual comfort, but then if you do no more than that and you have already previously shared intimacy then it may be more affection based on a certain level of comfort.
Most Helpful Girl
its deffo sexual, you said it yourself though - your relationship is casual, if you want it to be more why don't you discuss it with him?