The actor, 38, previously described the moment while on the Late Late show with Stephen Colbert in October.
Now Malek has explained further - adding that his idea was well appreciated by Craig.
Speaking on Lorraine this morning with Ross King, he said: “I was the new kid on the block coming in with a lot of ideas and I had one that worked and made it into the film.
“I think it earned him picking me up and giving me that kiss.”
Craig, 51, previously joked that he kisses his fellow leading men on sets as it "breaks the ice."
Malek plays Safin in No Time To Die – a character that producer Barbara Broccoli previously described as "the one that really gets under Bond's skin. He's a nasty piece of work".
His character is due to have some comedic streaks though, according to Malek, thanks to Phoebe Waller-Bridge who has been brought on as a co-writer.
“At one point we were talking about a scene over the phone, I said ‘This is a very climatic moment, are we sure we want to interject some humour here?’ and she said, ‘Well he just can’t help himself, can he?’
“She had a really good sense of who he was.”
Despite the buzz around the film Malek – who also previously scooped an Oscar for his portrayal of Freddie Mercury in the Queen biopic, Bohemian Rhapsody – swore off any potential nods for the award.
“I’m good with one,” he quipped.
Yesterday the trailer was released for No Time To Die – which will hit cinemas next year.
The film looks to focus heavily on Bond’s relationship with Seydoux’s Madeleine Swann and sees Bond up against new double-O agent Nomi played by Lashana Lynch and Malek.
Ben Whishaw will return as Q and Ralph Fiennes will also play M.
No Time To Die is released in the UK on April 3.