"Yes, I definitely want you to stay." He didn't care how she stayed, they could go back to not kissing and touching because that was from the dome and not from Gamora. And no matter how impatient he was Peter wanted it to be Gamora's choice and not because some big faceless creep of a dome made her do it. It felt cheap that way. Plus it probably pissed her off.
But he wasn't letting go of her hands until she started to pull away. He'd take what he could get right now.