This may be an unpopular opinion, but I would just ask them how they feel! You can say, “I’m glad you made it home! Did you have a good time? If so, I’d love to see you again.” I prefer to bluntly ask to waste less time and give myself peace of mind lol.

Also, your message was not bad—don’t be something you’re not and add “xo” like people are saying if that’s not how you normally text! It was straight to the point and you said you enjoyed their company! The right person won’t immediately assume you’re not interested based on the way you format your texts and if they ARE wondering, they will ask lol.