He rubbed my arm?

I met this guy who I really like but I am not sure if he only likes me as a friend. We spend hours talking in person frequently, study together, and tease each other sometimes. I hugged him once and haven't since because I feel weird doing it if he doesn't like it. He does not initiate hugs. Today when we said goodbye he rubbed my arm and gave me a smile before he left. What's up with him? Why won't he hug me?
He rubbed my arm?
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