What is he thinking/feeling?

This guy and I have been on and off (it was never an extremely committed relationship). We stopped talking for a while. He recently started texting me again. We made plans to hang out with some friends, we were at his place with another friend (he sat close to me and put his arm around me, nothing significant). He kept saying that he genuinely loves me and that he wont ever disappear out of my life again. Is he being honest or is he just hoping to get laid?