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The longer you wait (probably won't need treatment for ten years if ever) the better the treatments will get and with fewer side effects. What you have right now is probably what most men of your age would have in their prostate if they got biopsied. Some oncologists would call it pre-cancerous. You are a prime candidate for AS.
If I was in your situation I would get a DNA test from 23&me or some other testing lab (your urologist might be able to help you get it done) to see if you have some bad genetics for PC. If you do have some bad genes then the urologist would probably recommend getting treatment sooner. Genetic testing is moving ahead very quickly.
Make sure to keep getting your PSA tests every three months.