Now I know what you want to say. In this context, "intend" is a slightly formal word. When talking to a friend, we would be more likely to say:
I didn't mean to offend you.
Travis' idea is good, if you are really puzzled. Your tone of voice would be important. If you sound at all angry, it will sound like an accusation. If you sound really puzzled and concerned, it will give the idea that you care about the person.