What is it, What should I do?

So I knew this guy for a couple years and we always been friends. We tried to do the whole talking thing but it never worked out when we were younger now that we're both grown and matured we enjoy each other's time. I like him and I know he likes but we never get into the sex part it's always jokey with us. I kinda don't see myself having sex with him but I want to. What is it?
FYI I only been with one guy for 4,5 years. I'm 24 now
What is it, What should I do?
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