He suggests no such thing. He writes about having been on several dates and now you’re alone with her and you’re expected to escalate. His gives some suggestions how to do so, to make it more physical:
“Be playful. Spin her around. Pick her up. Push her away as a tease and then pull her back in. Decide that you're going to sit in a position where you can rub her leg and back. Physically pick her up and sit her on your lap.”
Only then does he write: “Don't ask for permission. Be dominant. Force her to rebuff your advances.”
In other words: try something, see what she will allow. She’s definitely going to tell you what she doesn’t want when you try it, but it’s very unlikely that she’s going to tell you what she wants before you try it.
Every woman you flirt with. Touch them immediately. Be shameless in your physicality. When a girl rejects your advances, she knows that you desire her, and it arouses her physically and psychologically.
Stop trying to evade what the quote says and trying to find some legalistic way of misreading its plain meaning.
So yeah, if your goal is play it safe for fear of lawsuits, offense, or rejections, then by all means, do not initiate any physical contact. Expect to be forgettable and for people to tell you "they just didn't feel that spark."
“Even when a girl rejects your advances, she KNOWS that you desire her. That's hot. It arouses her physically and psychologically.”
Which may or may not be true, but nowhere did the author suggest to the reader that he should carry on after the girl objects. He strongly advises against it.
The difference between a rapist and a date is that one stops after you told him/her to stop, and the other doesn’t.