If this is a situation that is going to happen a lot, and if it were me, I wouldn't mind if you asked. Personally, I would be quite flattered that you actually cared enough to ask me. Again, looking at this post, it clearly differs from person to person so if you do happen to offend him, although I don't think you will, just apologise and say that you were only trying to make him feel more comfortable within the group. I'm sure he will understand.