Closing is something that I struggle with pretty badly. I can have great rapport and get a kiss but when it comes to closing I need improvement.

These are the two questions I need answering.
1 - When is the best time to ask her to come home with you?
2 - How do you go about it and what do you say?

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I don't even need directions from you, but I'm gonna get an erection from you.

1) There isn't really a thing as a "time" to ask her imo You have to calibrate. Meaning, alot of the times you can just tell how her comfort levels are wih you. If you have kiss closed her, ran a fair amount of comfort and you feel that you esablished a emotional connection then it should be fine I think.

2) Like most things when it comes to girls, you don't want to be direct. That's why saying: "Let's go to my place so i can bang your brains out!" is only gonna get you a slap in your face. So you have to root it before you get her. Earlier in the conversation you can mention something about your place that you might want to show her. A thing i like to do is tell her a DHV story how i'm a guitar teacher, and could teach her a thing or two.

Still going from the venue to your place is a pretty big gap. and alot can go wrong in between. So what i like to do is:

Venue ---> have something to eat ---> my place and show some guitar skills.

This way, you have a REASON why you are taking her to these places. Girls don't want to feel like a slut especially when their girlfriends are around.

You've got some fair points here. However every time I've asked a girl if she was hungry or wanted something to eat she'd either say she wasn't hungry or that she was hungry or is going to wait for her friends?
It's pretty hard to get around that. That's why I don't like asking girls if they want to go for food. Could you say "Hey I make the best pasta, come and try some?" since then it's cutting the food thing out of the equation straight away.

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I don't even need directions from you, but I'm gonna get an erection from you.

On the food point, MAKE them hungry, bring up the pasta and talk about her good it is, mouth watering, smells, etc. Reaction would hopefully be along the lines of that sounds good or you've made me hungry, where you can follow with "I'm making some tonight, why don't you come try some?"

Mid conversation you could go: "what do you like better, pizza or french fries?"

"i know the best X place (the place she tells you)" and instantly go there. Girls need a reason to go to X place. Adam Lyons has some semminars about this subject aswell. You should get more then enough info on it when you google it