Flirting

Did I mess this up? How to proceed?

There is this girl that I have a history with, meaning we went out a few times in the past. The first time she told me she wasn’t interested. Years later we reconnected, and started hanging out again, where I stopped it (due to feeling that she wasn’t interested in me).
Now which was a few years from the last time, we keep running into each other. This is where I’m like let me see whats going on with her. We went out, and a few days later I decided to talk to her about the whole situation. The situation being what happened the last time, why I decided to hit her up again, how I feel about her and my goals (more than just being friends). She told me she wants to be friends first and took it as that.
Here is where I think my mindset is causing me to be confused. Historically and still do believe when a woman tells you that, you are pretty much “dead in the water,” with her and keep it moving. The other side and what others have told me, this is your chance to get to know her no strings attached. What I’m confused about is how do I proceed without overstepping, but showing her I’m interested. Then there is the whole dynamic of us being friends vs me still wanting more than that and when we hangout and other things of that nature. I need some advice.
Did I mess this up? How to proceed?
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