Should I ask him?

I've been in a relationship with my boyfriend for over 7 months and although he lives 2 hours away we see eachother at least twice a month if not more. I feel like it is a serious relationship- we've talked about one of us moving to live closer to the other, if we want kids etc but we hadn't said I love you until... This past weekend we were out and he was just being so sweet and nice that I blurted it out. He looked fairly surprised and kind of brushed past it with a kiss but didn't say it back. Nothing has changed since, we've still been talking every night and but neither of us mentioned it again. I feel like an idiot now, did I just shock him or does he not feel the same way. I know I need to ask him but I'm scared of what will happen if I do.
Should I ask him?
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