<human>: I am an asexual person, and have decided due to a number of reasons, including past experiences and general insecurities, not to pursue any romantic relationships in the foreseeable future. 

However, I have a crush. I have had this crush on and off for the greater part of five years so at this point I've resigned myself to the fact that it's not going away. I don't mind it too much because the person in question makes me feel very happy, I enjoy being in his presence, I get butterflies and all the nice stuff that comes with a crush. But it also makes me overthink things - We are friends, and I would like to hang out with him more than I actually do, because I enjoy his company and have a lot of fun when we do shit together. But I find it almost impossible to ask him to hang out one-on-one because I'm always panicking about phrasing or worrying he'll think it's a date or I'll somehow make an idiot of myself. Even though I don't have this problem with any of my other friends, regardless of gender.

Any time we end up doing anything together organically (normally because one of us has tried to arrange a group thing but the rest of the group have not been able to go), everything works out fine and there is no issue. So I already know that we are perfectly capable of hanging out as just the two of us with no tension. But I still panic about it and find myself freezing up every time I try to ask him myself. 

So I guess my question is essentially how do I convince myself that asking this person to hang out really is no different from asking any other friend to hang out? How do I stop overthinking it or feeling anxious every time I go to suggest seeing a movie or meeting up for lunch or anything I could ask other friends with no issue?

Can you succinctly summarize the text in 1-3 sentences?
<bot>: I have a crush on someone I don't want to pursue romantically, but it prevents me from asking them to hang out platonically. How do I get past it?