one thing you do when you Kiss is Sex. you would Kiss because Intimate. 
Impulse is a synonym of Urge. Urge is a synonym of Stimulate. Stimulate is a synonym of Encourage. 
Sex <--HasSubevent-- Kiss --MotivatedByGoal--> Intimate 
Impulse <--Synonym--> Urge <--Synonym--> Stimulate <--Synonym--> Encourage 