It doesn't have to mean that, but there is often a lot of wordplay on that. You would not necessarily want to walk into that word trap, especially around kids. There are too many jokes about it. It is similar if you are visiting an inmate at a prison and someone calls you and asks where you are and you say "I am in prison now." Actually, that would be worse. You would want to add more words to clarify. I merely want to point out the possible nuance to those who are not as familiar with English.
It might not generally, but it is extremely likely cause confusion.
I translated to in the zoo, because that's what I know. But really I have no way of being able to tell in Dutch if a person literally means they are in the zoo (in a cage), or just visiting the zoo.
I think perhaps a more natural way to say this in Dutch would be
Ik bezoek de dierentuin.
Toch? Of is bezoeken alleen voor mensen?