Text 41-42

sakheti matva prasabham yad uktam
he krishna he yadava he sakheti
ajanata mahimanam tavedam
maya pramadat pranayena vapi

yac cavahasartham asat-krto ’si
vihara-sayyasana-bhojanesu
eko ’tha vapy acyuta tat-samaksham
tat ksamaye tvam aham aprameyam

Translation

Thinking of You as my friend, I have rashly addressed You “O Krishna,” “O Yadava,” “O my friend,” not knowing Your glories. Please forgive whatever I may have done in madness or in love. I have dishonored You many times, jesting as we relaxed, lay on the same bed, or sat or ate together, sometimes alone and sometimes in front of many friends. O infallible one, please excuse me for all those offenses. 

Commentary by Srila Prabhupada 

Although Krishna is manifested before Arjuna in His universal form, Arjuna remembers his friendly relationship with Krishna and is therefore asking pardon and requesting Krishna to excuse him for the many informal gestures which arise out of friendship. He is admitting that formerly he did not know that Krishna could assume such a universal form, although Krishna explained it as his intimate friend. Arjuna did not know how many times he may have dishonored Krishna by addressing Him “O my friend,” “O Krishna,” “O Yadava,” etc., without acknowledging His opulence. But Krishna is so kind and merciful that in spite of such opulence He played with Arjuna as a friend. Such is the transcendental loving reciprocation between the devotee and the Lord. The relationship between the living entity and Krishna is fixed eternally; it cannot be forgotten, as we can see from the behavior of Arjuna. Although Arjuna has seen the opulence in the universal form, he cannot forget his friendly relationship with Krishna.

Commentary by Sri Visvanatha Cakravarti Thakur

"O, I have committed the greatest offense to you, who are filled with such great, great powers." In this way Arjuna manifests great regret.

"O Krishna, you are well known as the son of Vasudeva who is not famous, who was a human, a mediocre fighter on the same chariot as another fighter. I, Arjuna, am well known as the son of a king, Pandu, a great warrior fighting on his own chariot. O Yadava, you do not have the king's position in the Yadu dynasty. But 1 have kingship over the Puru dynasty. (The samdhi of sakha with iti is poetic license) O friend, my friendship with you is not because of the greatness of your forefathers nor because of the reputation of your family, but it is simply based on familiarity. I beg pardon for such rough words (prasabham) I have spoken, for intending the above meanings." The sense of verse 41 is continued in verse 42 with the verb ksamaye. The proper form of the verb would be ksamayam (I should beg for forgiveness).

Either through negligence or out of affection, not knowing you as the universal form (mahimanam), I have treated you badly during leisure and other times, in order to joke. I have scolded you with crooked words saying that you are truthful, innocent, and very gullible. I beg forgiveness for the thousands of offenses produced when you were alone, not in the presence of friends, or when you were surrounded by friends who were joking (tat samaksam). O master, I beg you to forgive me (ksamaye).