Interactive robots foster closer human-robot connections, but emotional and sexual intimacy are often conflated with other traits. This paper bridges theory and practice by providing a framework for understanding intimacy with physical robots, drawing on models of interpersonal intimacy. Through a systematic literature review and qualitative analysis, we clarify definitions of intimacy and examine the nuances of human-robot interactions. Key contributions include: (1) examining definitions of emotional and sexual intimacy, (2) integrating two thematic domains, and (3) highlighting key findings and research gaps. Results indicate a tendency to view intimacy as primarily emotional or physical closeness, emphasize its benefits, and highlight the need to redefine human-robot boundaries.