At least Piccolo never has to worry about Madoka calling out that flush that's so very, very easily visible on his green skin. Maybe sometimes she somehow misses it, and the rest of the time she's just much too polite to bring up how flustered someone else looks - but regardless of the reason behind it, there's no mention of the blush.

Instead he gets a small smile from her when Madoka turns towards him once they're properly over the bridge. There's definitely some relief in there as well, because Madoka sure is glad to have left this experience behind her now.

(No one tell her about all the ice bridges that are still left on their path..)

"Thank you so much.." For helping her now, sure, but also for what he's saying. It's the latter fact that makes her grow quiet for a moment, slowly letting go of his hand - if not just so she can instead shyly and awkwardly press her fingers together as she thinks. "Y-- You've done so much for me. I really should find a way to make it up to you one day. I mean, you even just saved my life.."

Or, well, attempted to. It would have been nice to have that help if she hadn't managed to upright herself at the last moment back on that bridge!