I think there isn't exactly corresponding expression. You can say like this:
meet up: 한 번 볼까요? or 한 번 만날까요?
hang out with me: 저랑 같이 시간 보내요.
keep me company: 저랑 같이 가요 (When you want to go to someplace with him or her) or 저랑 같이 앉아요 (when you want to be a company in a bus, classroom etc.) or
저랑 같이 해요 (when you want to take an actitvity together)