Feels like if I come forward and try to punch him, he's going to kick me. Any suggestions?
Looking back now I do hesitate because when I attack I really don't have a plan.
This comment may be an important one. If you feel hesitant the you will hesitate.
Feels like, doesn't mean you will get hit. It only means you may be afraid of it. If he is busy defending he can't strike effectively. Move in with a plan of action and don't hold back. Jab your way in or kick your way in...whatever. he is in the same position as you are as far as getting tagged when the distance closes. That is the point of training, to get him first.
I have had those feelings also but mostly it meant I was holding back. Do something to occupy the time of closing the distance. Distract him, Jab (as someone mentioned) kick, fake or whatever. Sometimes you may be able to Teep and push him back, then get him as he is returning. I would first check to see if you may be hesitating due to thinking you're going to get tagged. Hey...sometimes you have to eat a shot! As long as you work it out so that it isn't at a distance to be within the sweet spot!