Do you have to explicitly tell a girl you want to go on a date?

I want to ask this girl out but I’m kinda shy and dont really know much about dating. I dont know if I have to say “Want to go on a date” or “Want to go to (place)”. I dont want her to have a “Oh shit this is a date” moment mid date, but i dont know if the right way to approach here is explicitly saying “date” when i ask her out. help.