you formal or informal

In lesson 5.5 Mauricio asked his friend Amy if she can wait for him:

Lo siento, estoy atrasado. ¿Puede esperarme?

I'm sorry, (I) am late. Can (you) wait for me?

Since they are friends, he should have asked her : Puedes esperame?

Is that right?

He could have, but because Amy could be irritated, perhaps he is showing her some respect in hopes she will wait. At least that is what I thought when I did that lesson.

Thank you, sounds logical somehow