In Greek in these cases we don't say "kiss" (in kiss there is mainly erotic connotation). I thought it was the same in Russian.
Ok. In russian "целовать" is not "mainly erotic term". Erotic too, but not mainly. Mother "целует" child. About 50 years ago it was ok for men to kiss in cheek to express great respect. Usually triple times as ritual. As far as I know there is term "triple Brezhnev" because of it:

(now this tradition dies. however still can be met among old people)
Also just for fun:


"Целовать крест" is just ok too.