Can two people be just friends if they previously slept together?

I've been friends with benefits with this guy for a year recently I told him I had been on a date with a guy and that I was thinking about going out with him again. He told me it was ok if I did if it makes me happy. I asked him if he was saying he didn't want to see me again. And he said that wasn't what he was saying. He said if I started having sex with or got into a relationship with another guy. That he and I would stop the sex and just be friends. Yet he commented how he knew he could get me back to sleep with him if I did move on and start sleeping with someone else. I don't get why he would say that?

Can two people be just friends if they previously slept together?
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