Back when there were no cell phones, kids/teenagers in Bratislava used to walk over to their friend's place (almost always located in a prefabricated socialist-era apartment building) and either call them through their building's intercom system or wait for the right moment and yell their name so that their friend would ultimately lean out of the window and engage in a more personal (but less private/considerate) conversation with them. The purpose of this was mostly to convince their friend to take part in social life outside their home. Once the initial contact was established, the phrase that followed was almost always "Poď von!" ["Come out! (and let's do something/let's go somewhere etc.)"].
In case of Dara's song, "Poď von!" has romantic connotations and it is understood that the boy who is in love with her want her to go out with him to spend time together, to "hang out". . .