Sexual tension - how to know if it’s there?

I’ve been friends with this guy for about 3 years. We’ve always been Just friends but lately things have been different. He’s been very touchy with me (not moving away after us touching, putting his hand on my back, touching me unnecessarily, trying to spoon me, tickling me, etc.), he keeps saying flirty stuff, and he stares at me a lot. I catch him looking at me really intensely all the time and he doesn’t look away when I look. I am definitely attracted to him, how do I know for sure that he wants me? How to know if there’s sexual tension?
Sexual tension - how to know if it’s there?
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