It's okay, Madoka. Wormmon is not looking for a hug back. He simply wants to give her a hug.

A hug and a nuzzle, quiet, supportive. Sometimes people don't realize how amazing they are. And it takes time for that to sink in. Wormmon is here to remain by Ken-chan's side and believe in him until Ken-chan can believe in himself.

And both he and Ken-chan can do that for Madoka!