You're not hurting anyone by asking them not to touch you. That's nonsense.

It sounds like your friend wants to be a savior, the Good Guy, the one who helps you out by being so swell. But just announcing that he's trustworthy doesn't make him trustworthy-- that's something he can show over time, and you are under no obligation to just take his word for it. If he really cares about you he will find patience.