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All questions of legality aside - as they vary from place to place - look at the age difference. 4 years is nothing. You're 30, he's 26 - no problems.
The problem you'll hit is about stage of life. At 20, whether you're in college or working, you achieved some level of independence and experience. At 16 (and I was a 16 year old guy once) making plans for 2 days ahead of time is hard, change is constant and maturity hasn't hit yet.
And while you may not be planning on sex, rest assured he is. Give it time, let him progress down the road like you already have. In high school, at 16, I dated at 14 year old, 2 years difference.
While we were both in HS, no problems. As I hit college, many changes for me, none for her and we stopped dating. As she hit college, we dated again.
It's more about the stage of life than the age.
I don't think that's the best idea. Even though you may want to, think about what's best for him. He's young and maybe a bit confused.
And even though you just want to go out with him, he may get the impression that you want to do more. In his mind he probably sees you as more experienced. Just make sure you don't mislead him in any way.
He may be a bit intimidated, so he probably won't want to ask you any questions as to where you two stand. Good luck!