I can understand your confusion
I think it's wonderful that you've attracted a nice guy who is there for you when you need help and comforting.
I think you definitely deserve a guy who will treat you well AND want to kiss you and get intimate with you.
Why not keep this guy as a friend. If he's not interested in you in 'that way', certainly he'll understand that you want more.
I always say to start out as friends and no matter what happens you can always stay friends if you both agree on that arrangement.
Remember, you can have it all. You just have to be crystal clear on what it is you DO want. Good Luck.