<human>: Give me the gist of the text in a nutshell

So I was visiting my family in a small town about two hours from where I (24/m) currently live. We were having dinner at a restaurant and the waitress and I were chatting pretty well. Cute girl...whatever. Didn't think much of it other than it's her job. But my sister and female cousin suggested that she was obviously flirting with me and it made sense. They suggested I get her number, which I think she would have given me, but I didn't want to put anyone in an awkward situation so I didn't try. But I kind of regretted it. 
Fast forward to today when I'm browsing Facebook and I come across her profile because we have mutual friends (not friends I still keep in contact with but the acquaintances that you never remove from your friends list). With 100% sincerity, I wasn't creeping her. There aren't many people our age in the town I was in so it was just a lucky coincidence. So should I try to send her a message, what should I say, should I just give her a poke and see what she's thinking, or should I just chalk it up as a loss and not worry about it? This is an odd situation for me so any advice would be appreciated.
<bot>: Cute girl was flirting with me and I missed the chance at the time so what should I do now vis-a-vis contacting her on the facebook?