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Here are a couple things I noticed:
1. Sakura looks SHOCKED at the question, not “afraid” of it. I think anyone would be caught off guard by such a question. Not to mention, being asked such a thing by your incredibly young daughter.
2. I think that she looks sad BECAUSE she hasn’t seen Sasuke in such a long time, let alone be intimate with him. And I feel like anytime Sarada brings Sasuke up, Sakura can’t help but get emotional due to missing him so much. I don’t think this has anything to do with “not being kissed”, just a genuine reaction to missing someone she loves.
3. Sakura is thinking about something more meaningful to share with her daughter, rather than a kiss. In my opinion, a kiss is something that can be given without any sort of emotional attachment. Of course, young Sarada wouldn’t understand that at the time, so Sakura shares this instead:
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Aexpected, Sarada didn’t understand that a “kiss” isn’t the only expression of love that one can give. The reason why I believe that Sakura chose this was due to the meaning it held behind it. First, it was a promise from Sasuke to Sakura that he would see her again, but it also stands as the ultimate expression of love that he could ever give to someone else. And that kind of emotional connection is something that he couldn’t give through a simple kiss. I also thought that Sakura used this as a method to connect Sasuke to Sarada. In the hopes that an older Sarada would be able to understand this, rather than at that time.