Do you think this could potentially be awkward?

So the new semester just started up at my college. In one of my courses my professor had us go around the room and get to know everyone. To make a long story short, I found out that one of the guys in there had gone to school with me and sort of been my friend back when we were thirteen. I haven’t seen him in at least six years, since I moved away.
Anyway, since we had been friends in the past, I thought I might ask him out for coffee to catch up. The only reason I’m worried that this might be taken in an awkward manner is that I had a crush on this guy at the time and told him (he then gently told me he wasn’t interested. I was okay, but embarrassed) and I could tell by our short talk that he remembers this fairly awkward situation, even though he never mentioned it.
So, if you were in my shoes, would you go for it? I’m just asking because I don’t want to make him uncomfortable and think that I’m asking him out on a date when I would consider this to be strictly platonic.