No full-time offer handed after internship; do I have a shot?

This past summer, I had an internship at a medium-sized startup (about 5 full-time engineers when I was there). It was a great place, and I'd love to work there full-time when I graduate this spring. However, at the end of my internship I was not offered a position. It was the company's first year of having interns, so I can't tell if this was because they chose to not extend an offer, if they had forgotten about it, or if they assumed I knew I would have one if I asked.

I don't think I performed astonishingly, but I was assigned relatively mundane tasks and performed them well, and I thought I fit in and was on par with the full-time employees (given a year or two of experience). I know that taking initiative to do impressive things is important, but the mundane tasks I was given were nonetheless important and time-consuming (it would have been irresponsible to shirk them to do less important, flashier things). I fear that the other interns (there were 2), who performed about as well but were given sexier tasks came off as much better full-time candidates.

I think my options are: (1) ask the other interns if they received offers (though only 1 is graduating this year), and assume that I was intentionally not given one if they did; (2) ask the company if I have an offer. Both are awkward situations, but going directly to the company seems like the right thing to do.

I'd also like to know if this is a situation that could actually happen accidentally. Basically, am I in denial for thinking that a company would actually forget to extend an offer to a candidate they want? Or is it completely paranoid of me to think any of this, given that I seemed to fit in well? If it is extremely unlikely that my employers could have forgotten and it should be obvious that I don't have an offer, is it rude of me to put them in an awkward spot by having to formally reject me?

Because I assumed this position wasn't guaranteed, I have been applying elsewhere and have offers at other companies now. But this company was kind of my ideal job, so I'd really like to return. What should I do?