Friends with benefits to relationship?

I've been friends with benefits with this guy for almost two years, I've wanted a relationship with him most of that time. After pressure from my friends, he's finally said he wants one but I'm not so sure anymore. We would only have sex when drunk - 4/5 times a month.

And I don't want to feel like he's stringing me along. We rarely do anything out of the house and I'm worried he's only 'committed' because he likes my body but will get rid of me once he's bored/I'm no longer of use.

I'm really confused about what to do. Can you have just sex for 2 years then have a successful relationship. We're still not really doing much in public 2 months into the relationship and he had to be tricked to go on a double date.
Friends with benefits to relationship?
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