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Can I invite a guy to watch tv with knowing he wanted to hookup with me?

I enjoy the company of a guy who’s a friend (not super close) but we watched tv last weekend and it was really fun. We kissed and before things got further I stopped him and told him I don’t casually hookup and he specified he’s not looking for a relationship right now. (We once hooked up 6 months ago when we were really drunk and both decided that it wouldn’t happen again and we don’t casually hookup, I don't know why he suddenly wants to)
We ended up watching more tv and cuddling and talking and I had a lot of fun.

This weekend I have no plans and have been thinking about asking him if he’d want to watch the show we started. But I have two concerns:
1. If he says no, wouldn’t it be super embarrassing cause I’d have gotten rejected?
2. Would he assume I’m inviting him to hookup cause I am not. I am determined about not hooking up casually and haven’t changed my mind. I just like to spend time with him.

Should I invite him with the risk of him rejecting the offer? I don’t want to feel embarrassed :(
Can I invite a guy to watch tv with knowing he wanted to hookup with me?
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