Should I really try to make our friendship into a friends with benefits kind of deal?

I have been friends with this guy all of high school. We have become quite close over the years. I have been practically in love with him the entire time though, a couple months ago when we were talking on the phone he told me that he liked me but the fact that he was friends with my twin brother made it weird for him, and the idea of kissing me just made him think of my brother. Now I know that my feelings towards him are a million times more than his towards me, even friendship wise, I think he is more important to me than I am to him. With all this said, this past year I have become content with just being amazingly close friends with him and have actually told him most of this and that I finally just decided that, especially with us going off to different colleges soon, it would be stupid to start any romantic relationship between us and making it an awkward long distance friendship. Nonetheless, when we were at a friends mini party with about 8 friends the two of us ended up hooking up. We were both sober at this point, or at least I was and I think he was too, we did not have sex but we did do everything else. It was nothing amazing, or mind blowing for either of us but it was nice. In the morning, we just acted normal like nothing happened, but it was all very.....impartial, just little comments like "oh look this knife broke". Anyways it has been a week or two since this happened and we haven't talked at all really, I texted him when i got sick and we had a bit of a conversation but its normal for us not to talk a lot. Here is where I wonder though. I have the chance to make this into something. I could choose to change our relationship into a friends with benefits kind of thing. I trust him with my life and my emotions. I expect nothing from him if this happens, no commitment, if while we are doing this he meets a girl he likes than we can just stop the benefits and continue the friendship. We are both capable of emotionally doing this. Also this boy has been my high school crush for so long and I want him to be my first, I'm willing to risk the pain to have this with him. I'm not sure what I am asking, or what I want out of this. Maybe to ask if it is worth the risk to our friendship.