I want to grab you.

I want to hug you.

I am overwhelmed. I want to hug you. / Я преисполнен чувств. Я хочу тебя обнять.

I want you.

I want to have sex with you.

I want to kiss you.

I want to grab you. (я хочу тебя обнять и полцеловать)

Get over here. I want to kiss you. / Иди сюда. Я хочу тебя поцеловать.