Yes. It is more clear using "we." Suppose you and I are at a party together. 1. I am bored and want to leave. So, I say, "Shall we go," meaning "i want to leave if you don't object." 2. We need to be somewhere in an hour, and there might be traffic. I say, "Should we go now, or do you think we can leave in 20 minutes and still get to our appointment on time?"