Crush stuff because I'm socially inept?

So, there’s this guy I’ve like for about five years. We were in a weekly thing for like two years, then we didn’t see each other for a year and a half or so, now we’re in a different weekly thing together. He’s been there longer than I have. Based on what other people have said about how he acted, I’m about 92% sure he liked me in that first two-year period. Now, he doesn’t talk to me a whole lot, but I’m pretty sure I’ve caught him looking at me a few times. One time, I’m sure he was looking right at me, but then he looked away. Also, I had to park really far away one night because the parking lot was full, and our meeting place is in a pretty bad area, so I mustered up the courage to ask him to walk me to my car, except I didn’t finish my question. I just said that I had to park really far away, and he went, “oh, ok,” got up pretty quickly, grabbed his stuff, and headed out with me. Then he asked, “wait, did you want me to drive you or walk?” I said I was fine with whatever, and we walked. We talked for the entire walk, and he teased me about my major. I said I was going into Digital Media Design, and he jokingly said, “why would you want to do that?” I told him I liked art, so he went, “oh, that makes sense.” And after mentioning work, he asked where I worked. But then once I got to my car, I told him which one it was, and he said ok and left.

Another instance, he hadn’t talked to me the entire meeting, but our stuff was next to each other, so we had to be next to each other before we left. As we were putting our stuff away, he said out of the blue, “man, I’ve had a headache all day,” and we talked about that for a little bit.

One time, as we were leaving, he had already grabbed his stuff and was ready to leave, but I complimented him on something. He put his stuff down while talking to me, and we talked for a little bit.

If it makes any difference, he’s three years older than me. He looks into my eyes when we talk, and usually he initiated conversation, but we don’t talk a lot. He talks to everyone else, however. I’m not sure if he likes me, but all my friends say it’s obvious he does. My gut also says he likes me. Any thoughts?