No, you can't read people's minds, as WYSIWYG says. As a rule of thumb, I feel it is always best to give people the benefit of the doubt - if they offend, assume that they aren't doing it just to offend; and if people claim to be offended, assume that they genuinely are.

If you're wrong in that assumption, it normally becomes pretty clear soon enough. But if you do it the other way round, and assume malice or bad faith, and you are wrong, the chances are you will never find out the truth, because the way you react will mask it.