Antojar(se) is a reflexive verb used when a sudden craving or irresistible urge hits you.
In the line "Contigo, sí, se me antoja" Ivan Cornejo is saying that being with this person makes the moment “too tempting to resist.” It’s a colorful, very Spanish way to express spontaneous desire, making it both memorable and fun to learn.
This song is all about that instant, overwhelming spark you feel with a stranger. Ivan Cornejo and Eslabon Armado tell a story that starts on the dance floor with the line, "Bailamos como si no hay mañana" (We dance as if there's no tomorrow). He knows it's a bit crazy, admitting, "Qué tonto por enamorarme si ni te conozco" (How foolish of me to fall in love when I don't even know you), but the feeling is too strong to ignore.
The whole song is driven by this idea that "La curiosidad nos mata" (Curiosity is killing us). They can't just let the moment pass. The story moves from the loud club to the back seat of a car, where things get intense: "El coche moviendo y nadie maneja" (The car moving and nobody's driving). It's a very direct song about giving in to desire and the idea that you should "hacer recuerdos porque la vida es muy corta" (make memories because life is very short).