you dont get friendzone immediately if you dont go for that first kiss, some girls can take quite long to warm up. Recently i went on 3rd date with a girl, only manage to kiss her first time, looking nerdy and shy

If you talk about travel/adventure/dating/sex topics and the girl is receptive to most it, find an opportunity to get close to her proximity and just go for it.

thats fine if he's a newbie..

there's a thing called escalation ladder back in PUA community

you slowly move things forward by touching a girl from public to intimate area ie palm, wrist, shoulder face etc
when she's receptive, then you just go for the kiss

make sure she gives you that animated, soft eyes when you talking and you can feel she's feminine in the zone engaging with you. At that point you pretty much could get away with anything