Offering to hang out once in a while is nice. Without going into fancy considerations, it's nice

Do be careful when suggesting specific activities, it can feel like you're telling them what to be (and cause reactance). If you had parents doing it to you, you know the issue

I don't think the "judging" part matters. They are likely to be unhappy at some point in the future, and if you happen to be proposing something different at that time, they might be more interested. This doesn't need to be about judgement or respect, having a way into another life should always be desirable (as long as you're not being an asshole)

note that I am basing this on how I believe I would feel if I was them, and do not have any experience as your "role" here