[ March??? THAT'S NOT A NORMAL PART OF FRIENDSHIP. ]

As for the rest, I can't tell you how to feel. Only help you work it out for yourself. I do think your friendship needn't change, and your relationship does not need to "start over." You just need to ask yourself if you'd be okay with your friendship growing in a romantic direction instead.

For instance, if he'd asked you on a date before kissing you, what would you have said?