Friends can still be lovers. You don't have to be romantically involved for that at all. And, what's more, I'd dance with my friends too. The joy I get from being in their company isn't diminished for it not being romantic. It's just different.

[Additional needs it doesn't fulfill? Of course he does. So what?]

Perhaps I do have other needs, but you know what the most important part of any social connection is? Family, friend, lover, partner? It's talking. It's expressing yourself and your needs. Because until you can do that, you can't expect the same back and thus learn to respect their needs, and find your balance together.