"For a certain definition of adventurous, yeah! Exploring and life-risking and running-running-running, but emotionally adventurous?" He sobers some; that's not exactly a humorous subject. "You wouldn't have hurt us, Doctor. We wanted to be there for you, if you'd been ready to accept that. Didn't have to keep grieving alone like that."
He makes a very surprised sound, no hesitation in pressing hard into the kiss, but his hands flail a little at first before gripping at the Doctor's shirt for a handhold.