But he wasn't indecisive at all.
He wanted to pilot. Wanted to proof that he piloted the mecha and not Zero Two, who is said to be able to pilot mechas without any help.
In the end, he wasn't able to pilot the mecha - again. Proving his hidden fear that he isn't able to pilot and thus worthless.
but...that's exactly what he did - He asked her to pilot it with him again, after making sure whether he was imagining things or not.Why didn't he go to Zero Two's table in the cafeteria if he so much want to pair with her and pilot the mecha with her? I just can't understand him.
In addition to that, we are basically looking at a brave-new-world-esque society. These children don't even know what kissing is, their existence is probably validated by how they perform in front of "father" - and nothing else.