"He is calling us to read"
This is the main purpose of the subjunctive.
Ninataka uje. = I want you to come.
You cant use the infinitive there. The English "object + infinitive" structure (eg. "us to read", "you to come") is pretty strange and I'm not aware of any language that has a similar structure.
@saynave: I think it is best to ignore the English structure, so avoid translating literally to the Swahili infinitive (kuja, in this case). I suspect that your sentence "Ninakutaka kuja" is ungrammatical for this reason. The structure "I want that you should come" is common to several languages I can think of apart from Swahili, and that is what "Ninataka uje" says.