What to do about this new guy?

I have been friends with this guy in my life for three or four years. Lately, we have been discussing the idea of dating. He told me that he likes me and can see himself dating me, but doesn’t want a girlfriend or to make it offical because each time he has done this, he ruins it. I was with him tonight, and things ended up going farther than I had imagined. We ended up sleeping together, which I didn’t want to do but it happened anyway. He isn’t the type of guy to just not talk to me after something like that and he is definitely not a player but I’m worried that I’ve ruined the possibilities of us ever being together. I just need some advice- anything would be helpful. Thanks!