There’s no such a big difference. If you just want to say “my gf and I” you have to use “моя девушка и я”. подруга is a little bit tricky word, that means a female friend.
You can use any of “мы с моей девушкой/ я с моей (or со своей) девушкой” in any sentence.
Don’t forget to pick the right form of verb: мы - plural, я - singular.
Actually both of them are correct, it’s more about the personal preferences than the rule.
upd: I’ve found the case which makes difference.
When you speak about plans in the context of your desires/things which she doesn’t know/she doesn’t share your opinion you have to use “я ... с моей/со своей девушкой” only.
Example:
1) Я хочу пойти в кино с моей девушкой в эту пятницу, но она работает.
2) Осенью я собираюсь поехать в горы со своей (this construction sounds more natural with я) девушкой, но я ещё не сказал ей об этом. (Probably you didn’t say because you want to surprise her).
In other cases if you and your gf are aware of the thing and you came to arrangement you can use any previous construction.