In the first skit of episode 418 - “Attack of the The Eye Creatures,” fascinated by “those darn smoochers” in the movie, Tom Servo decides he needs to learn how to smooch, so he invites Crow to a smooching session. He gets SO shot DOWN. Joel then steps in and the skit ends with a big smack on the lips:
and Joel says “Ya know, I’ve always wanted to do that.”
In Douglas Coupland’s book “Generation X” (extremely popular right around the time of this episode in 1992) the two straight male protagonists and best friends are (I think, it’s been a long time since I read the book) running from the cops, and before they split up, one kisses the other and says “I’ve always wanted to do that.”