Natsu's emotional intelligence is greatly underestimated. He is anything but blissfully unaware; he is highly perceptive of how others feel and reacts accordingly. For instance, when Jellal was about to be arrested by the Magic Council towards the end of the Oracion Seis arc, he could sense Erza's turmoil and understood what the former meant to her which led to him taking a stand for Jellal. He reassured Juvia that they would get Gray back during the Avatar arc. He was mature enough to put up an innocent charade of incompetence to keep Asuka happy. He has lent emotional support to Lucy on several occasions and showcased utmost sensitivity.
That brings us to two questions: Why does he play the clueless fool and what will make him acknowledge his feelings and, eventually, act on them?
First, it is my interpretation that what terrifies Natsu more than anything else in the world is loss. He cannot so much as entertain the possibility of losing the people he loves. Let alone accept its inevitability. It is why he adheres to a maladaptive coping style where he simply avoids difficult situations and feelings. Instead of facing the reality of Igneel's death and allowing himself to be supported by his friends, he chose to isolate himself from everyone with only Happy for company. Natsu would sooner bear the burden of the entire world than share his own with his friends.
When the situation is under control and whatever crisis they're facing is averted, he wilfully regresses to his childish ways, content with the knowledge that he wouldn't have to face his feelings or address them. That everything will be how it always has been.
For Natsu to experience growth, he will have to experience a loss from which he can neither escape nor avoid. It shouldn't be a permanent one but it needs to last a while and end with the realisation that life is too short to not be savoured in its entirety. That he needs to break out of the shell he so stubbornly clings to and let people in.
Then there are his feelings for Lucy, who, I daresay, is in an entirely different category from the rest of his friends.
His words to Lucy at the end of the manga, that they will always be together, are not so much a statement, as they are a promise, both to her and to himself for when he believed that he had lost her forever, the outcome was frightening. Much like his brother Zeref, whose whole tragedy was triggered by his inability to come to terms with losing the one he loved most, Natsu's intense devotion for Lucy can bring out the worst in him.
For NaLu to unite for good, I need them to be apart for a while. When faced with the reality that Lucy might not be by his side forever or vice versa, Natsu will have no choice but to face his demons and get his act together. It will not be an easy process but a little angst has never harmed anyone.
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