Should I just go for it?

Basically, I like him. And I make it blatantly obvious. He doesn't seem to mind. We flirt all the time. Text/talk constantly. He's been over a couple times in the past week and it's fun. We laugh and smile and stuff. But we're just friends. I'm pretty sure he likes me too. We text until one of us falls asleep or says good night, and then I wake up to his good morning text every morning. So I think he likes me. Anyway. When he was over the other day, I just wanted to kiss him so bad. Kissing isn't really a big deal, right? But I was scared he'd care or he wouldn't want to and our friendship wouldn't be the same. He's hinted before that he's wanted one, but I don't know if he still would. Should I have anyway? I get a lot of opportunities to, I just chicken out. Next time, should I just go for it?