I understand having issues with socializing properly, but you’re probably just overthinking this and making it into a bigger worry than it is. I think that instead of outright saying “no” or having a conversation specifically about it that could be misunderstood as being lectured you could turn this around to be playful or even more father-figurely. You don’t have to say “no” and risk feeling bad or being faced with an uncomfortable “why” if you change how you respond.
You can replace your agreements or passive acceptance with some more playful, encouraging phrases:
“Let’s see if you can! Let’s go in there together and you can show Daddy what you can do this time!”
“You know what Daddy’s been thinking lately, Sweetheart? That’d it’d be fun to see you make this sometimes! Let’s go, I’ll help you!”
“You know what Daddy’s been thinking lately, Sweetheart? That’d it’d be fun to do these things together sometimes and spend less time apart! Let’s work together this time!”
“Okay, but you come and help Daddy, okay? I don’t want to be all lonely in there without you!”
“Oh, Sweetheart, Daddy isn’t going in there right now. You can try to be a big girl if you want it right now though. Daddy is right here if an accident happens. All you have to do is say ‘Daddy’ if an uh-oh happens.”
“Okay, but you come with me. I think it’s time Daddy showed you how to push the right buttons on the microwave so you can surprise Daddy with this stuff too sometimes, okay?”
“Oh, yeah, snack time, what a great idea! Come on, let’s both go and find us some yummy snacks for us to munch on! I’ll need you to check the cabinets and see if you can find any special treats for us to share.”
“Oh, Sweetheart, but Daddy is very comfy right now. Even Daddies need to relax sometimes too.”
“Right now Daddy is super busy, okay? It might not look like it but Daddy is figuring out big, important stuff right now. I know you can do this yourself right now though. I’ll be right here if anything bad happens and you need me, okay?”
“Okay, let’s clean up now! We don’t want to leave a mess. Sweetheart, do you know the clean up song?! Let’s sing it while we get this place nice again, it’ll be fun...” https://youtu.be/WJ9uhDzN-rA
Try to brainstorm creative ways to redirect or get her moving, even if it’s just to follow you into the room when you have said yes. If she also has to get up then maybe she’ll be encouraged to help you with the task or may even change her mind about what she’s asked of you.