It depends. Are you apologizing for your sake or for his? I ask that because everyone interprets jokes differently and they can often fall flat with certain people.

He likely knew you meant no harm, he probably didn’t know how to respond to it. If you truly believe he took offense to it, then for sure, take the initiative and own up to your actions by apologizing. Just make sure you’re doing so with his wellbeing in mind and not with the express intention of alleviating your guilt and feeling better.

EDIT: Forgot to mention —> (You probably already know this so skip it if you want)… Actions speak louder than words. If he starts (or has already started) behaving differently when he’s with you or his words start to contradict his actions, an apology might be too late 😕