Invite means you ask someone to do something or go somewhere, so it is more specific than "ask", just like "apple" is more specific than "fruit". If I simply ask "how was your day?" that is not an invitation.
Invite also implies that the location or activity is good. It implies that the other person might want to do whatever it is or go to the place to which you invited them. For example, you don't often say "I invited him to wash the dishes after dinner." You could say it that way, but it sounds a little strange, because most people do not want to wash the dishes.
Finally, invite implies that you will also do that activity or go to that place with that person. If I invite you to go to the dance, then I am asking you to go with me, not just asking you to go yourself.