Don't ever let the fear of having someone think you're a "creep" get in the way of doing it.
I have... mostly female friends... and I constantly hear the "omg guy hit on me such a creep" SO many times that I started being afraid of hitting on women for fear of being a creep.
Then I realized... and it took way too long to realize it.... that a lot of women will find ANYONE who even looks their way to be "creeps", so fuck what they think and just go for it.
I know for a fact that I'm a socially adept and normal person.. so if a girl is creeped out by me asking them out, they can fuck right off. I wasted so much time being afraid of being called a creep.