Whether Francis asked first or not, Edmund would always want to be kissed by him.  But he preferred a warning, so he would at least be able to prepare for it.  Really, it was for his own mental well being that he be warned before any kind of intimacy.

"Just ask to warn me," he whispered, eyes still closed.  "If you wait for me, you might be waiting forever.  But if you ask, I'll say yes."  He didn't think he'd be able to say no.

"You're not pushing me Francis, I hugged you first.  Don't - don't worry so much.  If you do something I don't like, I'll tell you, I promise.  Honesty, remember?"