Bg 11.41-42

sakheti matva prasabham yad uktam
he Krishna he yadava he sakheti
ajanata mahimanam tavedam
maya pramadat pranayena vapi

yac cavahasartham asat-krto ’si
vihara-sayyasana-bhojanesu
eko ’tha vapy acyuta tat-samaksam
tat ksamaye tvam aham aprameyam

Word for word: 
sakha — friend; iti — thus; matva — thinking; prasabham — presumptuously; yat — whatever; uktam — said; he Krishna — O Krishna; he yadava — O Yadava; he sakhe — O my dear friend; iti — thus; ajanata — without knowing; mahimanam — glories; tava — Your; idam — this; maya — by me; pramadat — out of foolishness; pranayena — out of love; va api — either; yat — whatever; ca — also; avahasa-artham — for joking; asat-krtah — dishonored; asi — You have been; vihara — in relaxation; sayya — in lying down; asana — in sitting; bhojanesu — or while eating together; ekah — alone; atha va — or; api — also; acyuta — O infallible one; tat-samaksam — among companions; tat — all those; ksamaye — ask forgiveness; tvam — from You; aham — I; aprameyam — immeasurable.

Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Thinking of You as my friend, I have rashly addressed You “O Krishna,” “O Yadava,” “O my friend,” not knowing Your glories. Please forgive whatever I may have done in madness or in love. I have dishonored You many times, jesting as we relaxed, lay on the same bed, or sat or ate together, sometimes alone and sometimes in front of many friends. O infallible one, please excuse me for all those offenses.

Purport by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Although Krishna is manifested before Arjuna in His universal form, Arjuna remembers his friendly relationship with Krishna and is therefore asking pardon and requesting Krishna to excuse him for the many informal gestures which arise out of friendship. He is admitting that formerly he did not know that Krishna could assume such a universal form, although Krishna explained it as his intimate friend. Arjuna did not know how many times he may have dishonored Krishna by addressing Him “O my friend,” “O Krishna,” “O Yadava,” etc., without acknowledging His opulence. But Krishna is so kind and merciful that in spite of such opulence He played with Arjuna as a friend. Such is the transcendental loving reciprocation between the devotee and the Lord. The relationship between the living entity and Krishna is fixed eternally; it cannot be forgotten, as we can see from the behavior of Arjuna. Although Arjuna has seen the opulence in the universal form, he cannot forget his friendly relationship with Krishna.