Using Reverse Psychology
The underlying principle here is agreeing with her objection by taking the same position as her. It also evokes the scarcity principle and it makes her run after you like a moth to a flame.
This is what you do...
Her: "I just want to be friends."
You: "That is exactly what I was thinking and was going to suggest it myself. I think you and I would be better off as friends anyway."
Her: "I am not ready to make love."
You: "Now that you mention it neither am I. I think we should wait and really get to know each before we even consider having sex and just cuddle."
Her: "You cannot come upstairs."
You: "Now that you mention it, I am tired and really do not want to come up. If I was to come upstairs with you I could only stay for 10 minutes and then leave."
Her: "I am tired and I want you to take me home."
You: "Yes, you look tired and it's better I do that. I am tired myself and want to go home as well."
Her: "I have a bf/husband/no time/busy/pet died/not my type."
You: "Well I was just thinking that you seem interesting. I too have a gf/wife/no time/am busy/pet died/not my type and thought we could be just friends. I think you are a little too presumptuous about my interest in you here. If you cannot have a casual coffee with me then you can leave now."
You say this to any ice queen and you'll melt her right to the ground and get her take an opposite position to what you suggest. And believe me I have used these lines on scores of women getting a turn around rate of about 75%.
But when I continued pushing I rarely if ever succeeded in turning any woman round.