You are not talking about the intent of the language, only the form.Nope.
"Come to me" is a COMMAND, not an "invitation".
In that passage, Jesus is making an invitation, and it is in the form of a command, at least in English, but the commad form can be used to set up and if/then situation which it does here. If you come, then I will give rest
And yes, Jesus said exactly what He meant