My DD was like this - we used to call her the Duracell Bunny. She never stopped, even when I was pregnant with her.
She dropped her (irregular) daytime naps before she was one and would just keep going. As soon as she sat down for more than two minutes she'd zonk out.
I remember being at a family party and tidying up at the end when she was about 18 months old. Her sister and older cousins (oldest was about 7) were all asleep or starting to fall asleep, she was still running round!
She's 14 now and will still sometimes have times where she can't sit still, but as she's got older and life has got busier, the constant physical movement has calmed down.
The constant mental movement however is getting worse.
We are looking at an ADHD referral but that has been driven by other behaviours following my late diagnosis.
The constant moving and fidgeting is one piece of the puzzle, but if it was the only thing, I wouldn't consider ADHD.
As frustrating as it is when you are exhausted and you just want to chill out, I would say don't worry about it for now unless there are other things causing issues.
Just keep an eye on things as he gets older for other potential ADHD behaviours - at school and home (DD doesn't show any at school as she masks so well, but that then leads to issues at home) and take it from there.
Try and find an activity to direct the energy, even if its just tidying up at home, but one thing I would recommend is make sure you're getting him using the mental energy, not just the physical. We realised quite quickly that if we didn't do that it would lead to tantrums and behaviour issues.
Dance is good because its constant movement but you also have the mental exercise of having to remember routines and he can use that energy to practice at home, or use the energy to get him tidying up etc.