How to get a guy to hang out with you, without annoying him?

So i've know this guy for a really long time. For a while though we haven't seen each other because he was home schooled for the past 5 years. But recently we have been seeing each other allot randomly. When we have seen each other, we hangout and talk. Twice this week we were together all day at a dance recital that we were both in and he didn't leave my side, he actually put his arm around me allot and was looking for me when he came back from a dance. I hoped that meant he liked me but i still wasn't sure. So basically all night he was near me. He watched my dances and i watched his and helped him with quick chang (nothing bad i just held his costumes during other dances for him). So now i wanna ask him if he wants to hang out sometime but i don't want to annoy him because he doesn't really go on his facebook much and i already emailed him good job! on the recital. I want to sed another to ask him but i don't want to seem like im emailing him constantly over and over. so i guess basically im looking for ideas, confidence, and allot of help!