[His feelings on hugs don't really matter right now, but at the end of the day, Cisco is his friend, which means he's included in the circle of people who get more than meaningless gestures of affection.

So when Cisco scoots over, Taako just winds his arms around Cisco's shoulders and lets him hold on.]

You cared about him, that's not your fault. I'd bet you still miss him even knowing what he did, cause people don't work that way. It's never that easy.