Well, it doesn't mention "us", only "we". (Also, that wouldn't be a grammatically logical sentence in English. It would have to be "we will see them" or "they will see us" or "we will see each other".)
Maybe we just have to take it literally: "We will see later". What we will see is unknown, both in this Swahili example and in the given translation, so they do in fact match each other.
Can any native Swahili speakers explain whether this has some other meaning (as in "We hope to have a day off soon but we will see", or something like that)?