The Entertainer/Charle wants out all alone
The thrill of visiting town all alone was too much for little Charle. He knew the steps he has to take in order to go out, it doesn't take much but how about spicing it up by trying to come out all alone? The King already taught him about certain pathways that leads out of the castle without being seen...Well, not quite seen but at least give out the least interactions possible.
On the bright side, it was also the safest way of going out without being caught. Even if he could ask Guards, his Dad or whoever else, there was that chance they'd catch on to what he was planning to do, or that something else happen and he'd be stuck in the situation for the whole day. With this plan, all he had to do was act naturally while lying about what he's doing and he should be golden.
He had several choices to choose from