Yes my understanding is that tori has to unify an attacker with tatami as fast as possible.To do that, tori must control completely attacker by locking his body, not only by touching him lightly.Such light touch will never stop me to do a vigorous counter and I'm very friendly attacker. Against somebody who is full of aggression, hate and has a bad intent, this way of doing a technique it is a bad joke.
Then, yes, insofar as what I understand Endo Sensei to be doing, he is not doing what you have written here.
Speaking of bad jokes...
This guy in a restaurant calls the waiter over and angrily says, "This is absolutely the worst vanilla ice cream I have ever eaten!" The waiter replies, "But sir, that is not vanilla, it`s butterscotch." The guy takes another spoonful and says, "Hey, this is pretty good."