What does it mean when you have grown up with a guy, and he has become your bestest guy friend?

So there is this guy that I have grown up with since 1st grade. We have tried dating a few times but it just didn't seem to work out that well. But now that we have matured over time and have somewhat changed, we like each other. And it's nothing when you see him in the hallways at school, but when you see him somewhere outta school, you feel like jello. Or your arms go limp and your legs try and give out when he touches you? I think things might actually work out for us this time but I'm not to sure about it.... Help...?