I have a friend who is a caregiver, and she recently traveled to a neighboring island with a patient so he could have an operation. While she was there, the patient's brother came from the US, and he tried to initiate intimacy with my friend. She said she was scared because he was aggressive and insistent. I asked her if he tried to rape her, and she said, no...he just wanted to hug and kiss. She is young and naive, and apparently doesn't realize where the hugging and kissing can lead. The guy finally gave up his quest, and allowed her to leave. Kissing can lead to passion, and that can lead to sexual intimacy, and maybe to conception.
if you think you are not a good kisser, then when you do get into a relationship again, then remember that "practice makes perfect".