I think you should be more direct about moving your relationship with him forward and think less about going forward physically. If he likes you for 5 years he wont ditch you just because you wouldnt have sex with him in the first month or whatever. Im a guy, if a girl sleeps with us too soon we dont want her anymore. Why? Because there is no time to build on anything in the relationship so if you have sex and nothing else then the relationship will reflect that.
This is my advice, be direct, grow balls because he doesnt have them. Any guy who it takes 5 years for to get a kiss is gonna leave you unsatified when it comes to moving forward. So tell him the truth, tell him you want to go out on a date with him. On the date then, slowly take things further, its important not to rush. That's my advice. I have limited experience so take it for what it is.