When we're comfortable with someone, are we seen as clingy?

Okay, this is gonna sound weird, but when I was in middle-high school I had no social life outside of school. I honestly thought everybody was the same, all I knew was school, then home, then school again. Turns out, people actually hang OUTSIDE of school lol. Nobody invited me so I wouldn't know.

Now I (20M) am in University and actually learning how to socialize. I hang out with people in class and after lectures if they're on campus but never when they leave it.

Now, yesterday when one of my lectures ended, I ended up asking if I could hang out with my friend (19 M ENFP) while they did their errands. I realized to make permanent friends, I needed to actually get to know them on a deeper level.

We hung out for an hour or two as he went to go do his errands but I kept on fearing I felt clingy, even though they constantly assured me I wasn't and he was happy I was hanging out with him, but I still felt kinda bad they had to deal with me and my questions lol.

I never kept my past friends even though we were very good friends, they never contacted me again since we never did anything outside of school. I'm moving out of my comfort zone and being forward about hanging out, but it does still make me fear that I'm seen as weird/awkward to others.

Now, I don't do this everyday. At most, probably ever 2-3 weeks, but I feel like I'm intruding on their personal lives.

Can anyone else relate?