Asking "Can I kiss you?" creates better sex and less regret than assuming consent. The speaker contrasts the excitement of explicit permission with the discomfort of kissing someone out of pity or pressure, arguing that verbal consent clarifies actual desire.
Your partner, who you want to kiss, leans in and says to you, "Can I kiss you?" How many agree when you find out the person you're hot for is hot for you? That's hot. Agree that's hot? Say hot. Only asking gives you that gift. If I'm just making out with someone, I'll know whether they want me or not. Not necessarily. How many of you in this room have ever been making out with someone and literally thinking, "Do I really want to be doing this right now?" Your partner thought it was magical, and you were like, "Oh!" Here's what's amazing about that is you were kissing them out of pity. Like you don't want them to feel bad.
