Knees rubbing under a table, flirting?

Anonymous
My guy friend and I share a table in class. Our knees are usually touching, even though there is plenty of room for them not to be. He plays with my hand a lot, squeezes my forearm for no reason and stares at me a lot like we share some secret. Our chairs rock a little and yesterday he kept rocking back and forth, rubbing his knee against mine. He did this for at least ten minutes and it felt like he was humping my leg, in a weird way. there was definitely a rhythm to the rubbing, lol.
We're at this weird place where we are really comfortable touching each other and being in each other's personal space, but we haven't actually said anything like I want you or let's get a room, but we do flirt a lot.

I guess I'm just waiting for the sign that he's flirting with intent and not just goofing around. I am dying to ask him that, but that seems like it would be awkward if he is just being affectionate in a friendly way and isn't hot for me. We're going to hang out after school today to watch a soccer game. I'm bringing a blanket for us to cuddle on ( I hope), so if we can talk alone should I just ask him what he wants with me?
Knees rubbing under a table, flirting?
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