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"To pleasure somebody" is rather rare, and in modern English means only "to give sexual satisfaction to". Don't use it unless you mean that.
A less specific word is "gratify" - it can be used sexually, but it can also be used in a general sense.
"Bring pleasure to" and "make happy" are very close in meaning.
To pleasure someone would usually involve sexual satisfaction. To bring pleasure to someone doesn't have that sense as strongly. This may be because the latter isn't used as commonly, so the listener takes the words at their immediate value.
To make someone happy would be similar to to bring pleasure to someone rather than to pleasure someone, for the reasons above.
To please someone would be a concise alternative that doesn't have sexual connotations.
When reading English texts from, say, the 1700s, I’ll encounter phrases like, “Please to invite the captain to dinner,” which I understand to mean “Please invite the captain to dinner.”
The way I use and understand “please” (in this sense; not the sense of “to give pleasure”) is that it’s essentially meaningless, and functions only as a tag to connote courtesy. Any sentence with “please” used this way still stands as correct when “please” is removed.
But this archaic usage makes it seem like it has a more tangible function. The sentence no longer works when “please” is omitted because there’s still that “to.”
So what is the history here?