Well you answered your own question. He likes hanging out and being able to kiss you without having a relationship. So you need to decide what your boundaries are. Robert has told you he does not want to be in a relationship but that does not mean that he will stop making out with you if you let him. He may have other "special friends" like you and does not want to have to give up the freedom to kiss whomever he wants.
You want a relationship and he does not. He is the only one who can decide that he is ready to be in a relationship and nothing you can do will switch his mind.
I would move on and find a guy who wants to be your boyfriend and will want you to be the only girl he kisses or hangs out with.
I know it stinks when guys do this stuff and it never makes sense. But what means something to us does not always mean the same thing to the other person. Which is a great lesson to learn but you always tend to learn it in a bad way.
If you want to be Roberts friend thats fine but I wouldn't let him kiss you anymore if he's not ready for a relationship.
Best of luck
