It may be true that in theory you can transmit herpes with no visible lesion. However, this is uncommon because the risk is low. Also, expressing affection toward your husband and children is, well, important. I think it more than reasonable to kiss the relevant parties when there are no clinical symptoms. On a personal note, my wife gets the occasional oral cold sore, as she has done since our marriage. In July that will be 35 years. We have kissed at times.
Best.
Dr. Rockoff
Dr. Rockoff