I don't know how to talk to guys

Nobody here is able to tell you what to do. The only person in this world who knows what is right for you is, you. If you want to pursue him, be honest and clear about your intentions and communicate them effectively.
What did you say when you asked him if you were just friends?

I'm a guy and I absolutely would not pursue anything unless I was fairly sure the woman was interested simply because the last thing I want is to make her uncomfortable.

The most important thing is communication. From both people in the situation.

Hope this helps, just my 2 cents.