Here was the scenario. I went up to the bar to get a drink and these two girls made an eye contact as I was getting a drink. I sat there for a few seconds and they started to walk towards me and I stopped one of them and said hi how's your night, she obviously opened up positively and we had a conversation for like 5 minutes. She was with an older looking friend and it did look a bit awkward that they were talking to me since one of them was at least 10 years older. Anyway as I am talking to this girl, I get caught up in a "making friends frame" and never get any results, besides befriending them for this one night. See the way I think about going out is to just have fun and not depend on outcomes but this type of thinking somehow stops me from asking for numbers or escalating to kissing.

i feel the mindset to go out with the attitude to just have fun is the key element. But alongwith you must keep in mind that you are there to sarge and get girls... To have fun with them, not watching them.
So, always remember to escalate, touch here and there, chitty chat sexual talks, non-apologetic escalated banter now and then. This would still make you have fun, and motivate you to go for the #-close, or even f-close. Once you would realise that girls around you get comfortable with these, you would yourself go for the escalation part.

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-- Jack
Patience and Calibration are the keys for the perfect seduction
[++ reputation if this seems the right thing to do ]

What jack said and, just one simple advice, I rather risk offending a girl and then recover from it than play it too safe. That's what usually gets you into the friend zone - being afraid to step out of the boundaries

yeah I just have to man up and take a risk.