The only reason I agreed to go to the beach this summer is because it gave me a reason to see my hot friend in her bikini
Did you see your hot friend in her bikini?
No, I didn't even go to the beach.
It's okay to see your friend on the beach. We can't help who we are attracted to. Just don't be a perv.
She's still wearing something like a bikini, so it's not like she's showing off anything or being lewd.
It's okay to find someone attractive while wearing a bikini, but I hope you're going to be respectful to her and not make her uncomfortable if you make a comment about her bikini. I hope you would join her in a later date and try to see if she's also interested with you.