What happened between you and Pyrrha was awful... neither of you deserved that.

[ He means the way they were set up by Emerald, although the sentiment can be applied to the fact that Pyrrha also got murdered on the same day. Penny likely doesn't know about that, but that's a story best left for Pyrrha to tell (if she chooses). ]

I think you should talk to her, Penny. It's the only way to move forward, and leave the past where it should be.

[ Or, for a more simple answer, he smiles at her: ]

...Yeah - I believe you two can still be friends.