I want to ask my boyfriend if he can pick me up from my internship but we already hung out friday, saturday, Sunday, and tuesday. He always drives so I feel like it annoys him. I even turned down a ride home yesterday.
Perhaps, he doesn't mind as it gives him an opportunity to be with you.
But yes, don't just use the guy. Do something for him. Wash his car. Play the ukelele for him. Order pizza with extra anchovies on his side. Put on a parka and belly dance for him.
These are all unexpected little love offerings you can do in appreciation. :)
You can tell him or even better ask him if it's annoying to him and that you want him to give you an honest answer. You can tell him you don't mean to take advantage of him, but that you just don't have a drivers' license yet, and you could say once you do have it, you can drive and he'll be in the passengers' seat ;)