You beckon someone to come to you, but then you wait. This is because they aren't really near you, so your beckon is more like an invitation. That's why this word means to invite or to summon.
This is a jukugo word, which usually means on'yomi readings from the kanji. If you know the readings of your kanji you'll know how to read this as well.
Have you decided which friends to invite over for your birthday party?