That is a term I have not heard in a long time.
I don't know that I can speak for anyone else on this one. But for me it goes hand in hand. 90% of the time, if I am doing that, he is naked on my bed and I am doing that to his whole body and it is intimate because it is part of the whole sexual experience. It is only after we are lovers that I would just do that without it involving mutual pleasure... and that is just because I like pleasing and surprising him. But it is not an intimate experience alone. For me, intimacy involves giving and receiving of stimuli, a let down of walls.
Just one womans view. Maybe a man could be of more help. MEN...yes you... Relaxing on the couch watching TV, show goes off, almost time for bed, she reaches over and fondles it, brings it to life and sucks/licks you to orgasm. Is it a MORE intimate experience for you than making love to her?
The definition of intimate does not really help here. We may need to start with that to get everyone on the same page.