Actually it doesnt make sense because in the previous scene it showed Asuna without her shirt, pants and slippers. However in the next scene it shows that kirito is still fully dressed
Also, in the Fandom itself, if you view the crimson killing intent, at the very bottom it clearly
Says "When Asuna asked Kirito to take off his clothes as well, Kirito realized the misunderstanding when he had told Asuna that he wanted to be with her for the night. Kirito tried to explain the situation, however his apologies were not enough and Asuna punched Kirito for the whole embarrassing ordeal." so they might not have, you know....