I agree with Mad Sweeny, you are O.K I would not insult you by saying you are "normal" that means drab and like the herd.
I find a number of my close female friends very attractive, but have never had a sexual relationship with anyone other than my Wife, since last Thursday, sorry typo, I mean since we got married.
I think that "Romantic Touching" as you call it is VERY dangerous, that starts the fantasies running riot, and exacerbates the possibility that they will be acted on, the mind telling you that you are in love with the person ,therefore any act is justified.
Self control has limits, if you don't want the consequences, perhaps losing your partner, don't start down the road.
But the fantasies and feelings are normal for people like you and me.
Will you be my friend ? Tee Hee.
Love
Wobble