I almost feel like an Uncle watching his nephew grow up. Sean, I'm so proud of you!
Was this a date? Yes
How much time should pass between a first and second date (I don't want to appear anxious)? Couple days at the least, week at the most.
Should I of kissed her? Depends, most likely no. I know I was hitting my third or fourth date with my wife when I got the nerve. Funny thing was I was usually on third base by that point with most of my dates, I reckon she was different.
I can't say much past what C3PX and DF said, they are puuting you on a very good track. DF ideas of touching the right spots is right on, as a matter of fact, my wife and I were talking a few months back and she told me one of the moments she new we would most likely be together was one point when we were dating that I opened a door for her and put my hand on the small of her back, she told me she loved it then and loves it now.
C3PX touched this point as well, LISTEN! I cannot stress enough that you should listen to everything she says. Use the information you garner from her to make your next date together better for her.
Good luck!!