「私は（A） 友達(B)に ～させる」 has meaning of force(command) to do something
So that , relation between A and B is like parents and child , employer and employee , a king and knight.
I feel that "私” is something extremely rich person or who has strong power.
If you want to express the relation , it is ok! (If the friends are your slaves , no problem! Let them swim!)
Even if the relation is strong and weak , most of Japanese don't want to show off their power.
So the anwer could be ・・・.
I ask(ed) friends to swim at the pool.
If you change a word "child" instead of "friend",it is natural and usual saying.