How can I tell if he is asking me out on a "DATE"-date or only as friends so I don't make a fool of myself?

I met a friend's friend 3 years ago, recently he asked the friend for my number and when we spoke he said he thought of me bec he told our mutual friend why don't you stop by with "Snowflakes" the next time you're in town. Me and the friend visited him while we were in his neighborhood back then which was when I first met him so during the conversation he asked me to visit him when I'm down in his area again after I told him I would be over the weekend. Is it ok to take a friend along or is he taking it to be a date or what? It would be awkward to ask but it's also awkward not knowing!!!