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No.
If you already are on good terms with someone you know socially, then subsequently have a romantic assignation, that is hooking up.
Hooking up is not approaching strangers like in some gay bath house situation.
The idea of saying 'wanna fuck' to someone you're already used to intimately isn't actually weird depending on the sense of humor you share. Honestly, it seems like the kind of candor an old married couple would have.
Conversely, saying the same thing to a stranger should rightly get you kicked in the goolies.
No one is entitled to anyone else's time, attention, or body [parts] -- working within the common courtesy and respect it requires to acknowledge that will go a long way.