Do not waste your life with can't. A lesson I have been thinking about lately. Even if you just stand and mummble. He will at least be flattered if it does not go farther. "The only thing we have to fear is fear itself."
Start talking with him!
I'm the same way and have had the same problem, I know it's hard to work up the courage but once you talk to him you'll be happy you did. I did once and they ended up being my best friend. Just go for it! It'll be worth it c: