Ill be getting married in October to my best friend. He isn't a hindrance, he isn't a burden, he isn't underfoot.
He is my adventure buddy, my personal comedian and chef, partner in crime, my confidant.
It isn't like dating, it's like hanging out with my best friend. Sometimes we may need some time alone or with other friends, and that's ok.
We don't play crappy relationship mind games. We play Skyrim. We don't run around on each other, we exercise together. Somehow we aren't tired of each other yet.
Not saying that you will change your mind about getting married, but when I think back on being 17 (24 now) I think 'WOW, I was a baby!'. If you don't believe me, then just wait. You will see.
Most important thing is to not worry about what you are going to do in the future and don't dwell in the past. Live for whats happening now and don't have regrets.