Madoka clings just the tiniest bit tighter to him after those words (apparently she doesn't mind the fact that he isn't putting her down already in the slightest) and shakes her head. It feels a little selfish, and honestly, if Gladio did want to stay back or go somewhere else for another mission, of course Madoka would let him. But he seems in a good mood, and he's offering those words by himself, so maybe it's okay to agree with him in the moment.

"I don't want to miss you again." Even though she could endure it if she had to!

Although she's quiet for a slight moment before her eyebrows knot together in worry.

".. Is he okay now..?" Noct, she means, of course. Madoka is politely trying to not fish for details here, but she at least has to know that much.