Why did she seem hesitant?Watch
Next, when we left the class with two of her male friends (one clearly likes her and the other is blatantly gay), they both kept going downstairs and then I asked the girl I like if she wanted me to come and she seemed a bit taken aback and said "yeah, sure".
We had a really nice talk and it never felt awkward at all and we made tons of eye contact, giggles and more.
She even said "Thanks for waiting with me" and I replied "Who said I was waiting with you?" --- again she giggled.
Sadly it is not possible to tell with the information that you've given. I would say don't overanalyse it, keep going and see what happens.
There's a lot of banter between us though and silent and long eye contact happens between us frequently.
Tell the guy friend that likes her that you want her so bad, he will get jealous and annoyed and tell her, this will make her push him away and think highly of you. Muhahaha
I'm not worried about either of the other guys.