Um, yeah, if you proposition a woman (which can be communicated in many ways) and they consent to your advances and say yes, then her agency is respected and remains in tact. If she at any point says no or refuses, and the man still acts upon her, her agency is undermined and violated (rape).

Guiding a penis into you with your own hands and saying YES = consensual sex, NOT RAPE.

But the question is, what is so problematic with the original version (where Cersi expresses her desire and subsequent pleasure) that it WARRANTS a change to portraying the complete opposite (disregard of desire, violation, and pain)?