How do I tell him I want to get to know him more than just hook up buddies?

Hi guys, so I met this guy on Hinge at the beginning of the year and we went on about 3 real dates before quarantine started. We never really talk in between times when we see each other, and I've only seen him about once a month with everything that is going on. Slowly, it's just turned into kinda a hook up situation whenever we do see each other, especially when we dont really have conversations in between. I tried chatting him up once and it kinda died. I know he's definitely been seeing other people too, which is totally fine because I have been too. But as of the last time I saw him I realized i do want to get to know him better, but I dont know how to approach it or if I should maybe even bring it up to him? I'm confused as to what to do just because it seems like our relationship has already been established, any help is appreciated!