Is it okay to be Friends with a guy that made his intentions of dating you clear and got rejected?

This guy works in the same company, he has once made his intentions of dating me clear and i rejected him after a while he insisted on being friends but I noticed he still likes me somehow, so i sort of webt out with It but i try not to go out with just him or something so i alwats try to gatherings with more people so i feel less awkward being hanging out with him. I recently got into surgery so commuting from my house to work has become a real challenge.
He lives far from my place but insisted in taking me home almost everyday which makes it easier for me since he has a car but i feel i am taking advantage of him so i just accept when he has something to do near my place but i feel very bad about it or that maybe he'll misunderstand and get his hopes up...
What do you guys think I should i do? He is a really nice guy.
Is it okay to be Friends with a guy that made his intentions of dating you clear and got rejected?
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