Your attitude while inviting someone is very important. When you invite someone to a drink or a meal, ask in a tone that suggests, “It would be nice if you accept. But if not, don’t worry.”.
Essentially, don’t be too forcing. You don’t need to be obsessed about appearing too sticky or pushy either. Inviting people out must be a pleasant social thing to do. So, utter your invitation in a smooth and pleasant way.