Going crazy over my guy best friend

My mind has been stirred up crazy by my guy best friend of over 10 years. We have our own lives, living in separate places.

Yesterday, we met up. We only get to see each other a few times a year. (He’s got ADHD and struggles to text back/communicate). It’s always been just the two of us, no groups.
We went out to a pub, then went to his and watched loads of anime.

We often hug, and yesterday as he was putting his shoe laces on by the staircase to drive me back home, i opened my arms to hug him.
He hugged me tightly, then laid down on the staircase bringing me on top of him. We stayed like that for a while, so a long hug/embrace.
He them drove me back and gave me another long hug, saying i love you so much. I say it straight back because we do care deeply about each other.
-The problem is that the days after seeing him, I’m left with a feeling of missing him like crazy, and having thoughts like; I wish the hugs lasted forever. I want all of him. I want to be closer.
Today, I considered calling him just to hear his voice. And maybe tell him the above- but i didn’t. Plus i am terrified of losing him. I’ve been feeling tearful too. Chest physically tight.

I don’t know why, but my mind is confident that if we stared at each other long enough, we’d probably kiss. (it’s probably delusional). Like there’s something unsaid.

As I said, he struggles to stay in touch and I considering it a miracle and a blessing that he’s still even in my life. I made sure to let him know how much he means to me ever since when we were young.
I just don’t know what the right thing to do is. Another thing is, years ago he said he was bisexual but prefers men? He’s not had any actual partners since school days though.