I despise dinner dates because it's boring to sit there and watch each other eat.
I believe an old phrase used around here is "alcohol = sex, dinner = sleep". It's just not a good environment for breaking out of your shell, or kino, or anything that leads to something sexual. When I'm seriously dating someone, we might do dinner every weekend, but new chicks don't get that because we're still in the stage of trying to excite each other. Dinner isn't exciting.
You two are out at the bar. The mood is great. Maybe you bring up a movie you think she'd love, and tell her "Come over and watch it with me." Maybe you replace "movie" with a good wine, or a cool piece of artwork you have, or whatever.
If a girl's interested enough to come home with you, it doesn't matter what you say. It's not like you're tricking her...she knows what's up. It's just a matter of saying something a little more gentle than, "Let's go back to my place and bang."