Is our friendship over for good?

Tell him in person that you meant no harm and werent trying to be creepy or anything, explain your intentions so he will understand why you did it, then it will be so much easier for him to understand and forgive you. Im sure that if you talk about it things can go back to normal. He might not even be as concerned with the incident itself as it may seem, it may just be that you were drifting apart in the drama and the effort to fix it hasnt happened yet. You can do it.