What all are you feeling like you need to discuss? You mention things like seeing each other and sleeping over but what other relationship stuff? For the other two is there a reason you aren't able to just see how each things moves along (like sending each other messages/calls to see if you are free to go on a date and then during that date discuss if you want to stay the night). It's hard to give suggestions for other relationship stuff not knowing what it is you want to talk about.
This is how those two things worked with me and my partners. Of course things kinda feel together and since there were times I would sometimes see them as part of the whole group of friends we could take a little time during that time to talk about what was on our minds. Now living with most of my partners makes it even easier but I'm pretty good at trying to give suggestions on time management.