'quick and easy' breakout session

Building connections with other members is important part of our Zoom meetings, so before and after our meetings, is there a very easy way for me to ask another member, 'want to join me in a breakout room right now?'  I know the Host can create a lot of breakout rooms, but can I assign myself to one, and tell the other person, and is there a way to keep others from 'coming in' to this room?   Thanks