The best is to take him down from where you put him. If he is up there in your esteem, bring him back to your level: he simply is a human being like you. So tease him and don't take him too seriously.
Don't ask him out, focus on having a good time together. Step out of this "date" thing and focus on fun flirting and excitement. Take the "formality" away! It's useless: you are going to share some fun with someone, that's it!
What's the story in your mind? "Could he be the one?", "What if?", "Shall I wait another day before calling him?" etc. Dissolve these "scenarios" and focus on the moment right here! Break the rules and follow your instinct! They'll guide you to make the good moves.
If he does not get it then, he's blind! Avoid sentimentalism and go in the romantic dream only when the link is already established. The first step must be fun together. Tell him you like him by sustaining eye contact with him (just a couple of seconds... don't stare) smile with your eyes. Slightly touch his arm at the right moment! Timing! Go with the flow! Take initiative! Be fresh, alive and fun to be with.
Your presence is a gift for him! Show him you enjoy his presence!