Such behavior is not encouraged. I was exposed to the guru Leo Buscaglia’s culture of hugs in the 1980’s and have been hugged enough for one lifetime. That said, a decent handjob is never inappropriate.
Having a pet is so weird. Like neither of you speak each other’s language and yet you form some strong bond by rubbing against each other and sleeping together and you might accidentally kick them in the face or step on their tail once in a while but at the end of the day you two are best buddies from entirely different species.