That's not "basic etiquette".

I've had plenty of people throughout my life express wanting to come over to my place and hang. There's definitely a social grace of how you'd phrase it, but it's not like it's some alien concept.

Ask vs Guess culture. Look it up, it explains a lot.

Coming from a very WASPy family, I am very much in the Guess culture -- for a long time I wouldn't dream of inviting myself over somewhere -- but I genuinely think taking some cues from Ask culture people makes a lot of things easier and more sociable.