Starting a question with "Dare I"

For question sentences that start with "Dare I" like "Dare I join them?" can it mean: Should I take the risk of joining them? Or does it strictly mean: Do I have the bravery to join them?

It would mean the latter, according to definitions I’ve seen of the word "dare" but I’ve always thought that it could mean the former. Please confirm that I’ve been mistaken.