A concept exactly described and labeled "erotic friendship" by Milan Kundera in his classic novel "The Unbearable Lightness of Being", which impressed the literate world back in 1984. That is basically what that book is about: "friend with benefits" vs. "traditional". - And who wins? Well, let's say: both fail, but "traditional" does it with more grace.
I don´t love you, but I like you, I mean, I really like you, I like to have go out with you, I love to have sex with you. You are sort of my friend with benefits.