six year old boy poor focus and eye contact

Hi - I have a son who will be 6 soon.  He was diagnosed with autism spectrum by the school when he was 2 1/2 yrs.  However, he has seen a couple of Developmental Pediatricians when he was 3 and 4 yrs who have not given any real diagnosis, nor have they felt the need to have him formally tested.  He is extremely smart especially in science and math and is also reading at around an 8 year old level.  His kindergarten teacher thinks he is gifted, however he has poor behavior in school - mainly keeping focus and is easily distracted.  He also has poor social skills and poor eye contact.  He also will cry sometimes when he doesn't get his way.
  He has always been a very cuddly loving baby and boy.  He plays very well with his younger sister.  He has never had language issues - though because of the diagnosis he has seen quite a few speech and language therapist and everytime has been discontinued because his language is appropriate for his age.
He really struggles with eye contact when involved in a conversation, but when we are wrestling or playing he seems to make better eye contact.  He also seems to struggle in conversation with peers (not adults).  When a child approaches him he will tend to walk away or ignore the child.  He has already been getting teased at school.
My concern is lack of friends, poor eye contact and poor focusisng skills.   I would like to know how abnormal his behavior is and what can I do to help him learn to focus?  Should I have him seen by a developmental pediatrician again?  I have him getting help for social skills at school - which he makes slow progress, but I really want to help him more but am at a loss as to what else to do.  I really want him to be able to have a least 1 close friend.  Please help.