Don't sweat it too much Genesis. We are all spazzes.
You will not misread or fuck things up as bad as I have.
Picture this. You are invited to a lady's house. You know her. She is a cute 20 something about 10 years your junior. Part time student and part time aerobic instructor. Nice body and cute face with infectious laugh. You are reasonably good friends. There is supposed to be a party of some description at her house. She invites you. Fondue came up in conversation and she says she will make that. You turn up. Candles everywhere. No one else there. Cool music playing. Fondue in full swing.
You have a nice meal together alone. A couple of laughs and some drinks. Then you have a bit of a dance and cuddle up on the lounge. No one else has showed up. She asks what side of the bed you sleep on. You answer this very left field question. A little later she says she is going to go to bed because it is getting late.
You apologise for keeping her up and thank her for a great night, give her a kiss on the cheek and head off. 15 minutes into your drive it all comes clear to you.
She is dirty on you from then on and you cannot bring it up because what the Hell would you really say?
See mate? You are not the only one crap at reading people and social context. I will let you know too. Sex is the easy bit. As you see from above the other shit is really hard. An older lady is more likely to have the confidence to say something like "Really? You don't want to join me" but she was young and did not hard that confidence or perhaps thought I was trying to rebuke her. HAD she have said that I would have gone "Join you! Hell yes! Lead on!".