Do you think my DS is ready to potty train?

DS is 24 months and I am not sure if he is readyf ro potty training or not. So I wanted to see if I could get some opinions. Things that he does:

1. he always wants to come in the bathroom with us when we are going to the restroom. He has been doing this for some time now, so I am not really looking at that as a rediness sign. When he is in there, he will sit on his potty fully clothed, but most of the time he just wants to get up and mess with the door. Plus he knows that if he stays in there with me, I will let him wash his hands.

2. he lets us know that he pooped. he will say "i pooped", Sometimes he really means that he pooped and sometimes it just means that he passed gas. He really does not say that he pee-pee though.

3. He actually asks to go to the potty, but normally it is just the action of going to the potty. he does not want to sit on the potty but for about 3 seconds. Then he gets up and runs around.

So what are your thoughts.  I was thinking of just introducing him to underwear and see how he like them. I know that when my sister in law first started PT my nephew she would let him wear his underwear over his diaper. That really seemed to help him, because he freaked the first time she put his undies on by themselves. So that is why she decided to let him try undies over the diaper for a couple of weeks.

My plan is to start PT'ing Labor Day weekend, when I have some time off. I am not sure it will work, but my plan is to try. So we will see.

Thanks for your help.