That particular comment is taken from a part of the guide where you're already with a girl in "a private, intimate setting". It's assuming that you're with someone who's already comfortable around you. It's not saying that you should get naked in a nightclub with someone you've just met.
So you're supposed to wait until you're alone with a woman before you sexually assault and/or rape her? That's not an improvement, and doesn't negate that it's still very much so a rape manual.
