I am guessing that he goes for no physical contact because in his mind any will lead to more, and then more, and he is afraid to go there. To him, once things start, he can't see stopping until the "end". So, I don't know how you can convince him that you don't have to have that to be happy for now. I'm thinking maybe trying to be close to him in situations where it is clear that things can't go too far, maybe. Just try to get him comfortable with the idea of being with you. And, at some point, he may have to realize that he isn't a failure if he needs meds. But, it might not be time to work on that yet.
