Is this the typical love-hate relationship? O.o?

This guy and I are good friends, and I kind of like him and he likes me back. We'll pick at each other but he'll always be protective and flirtatious, such as hugging me for no reason and saying he'll punch people who hurt me. He trusts me quite a lot and I trust him too, but I'm cautious to pursue a relationship as I know of his past history with women. It's quite annoying but I like the fondness at the same time? I'm not quite sure what to do anymore because seeing the circumstances it looks like it's complicated to me. o.o Any mature advice would be nice. :D