This all depends on your point of view. As a person learning Aikido, I have always thought of the kihon waza as being that I have messed up and that is why my partner was able to grab my wrist. It is much harder to do the technique from kihon waza than from oyo waza.
Thanks for the insight. It is interesting you talk about from an Aikido perspective you feel that you have "messed up" if your partner is able to grab you; on a similar note my instructors have touched upon counters but it's something I've asked for more training in. For me now that I am a senior kyu grade I want my techniques to become natural - like an extension of myself if you will, rather than having to rely on textbook 'set ups'. Whenever we are taught techniques or variations they're usually taught with such sanitized finality, meaning if your opponent grabs you, do this and the confrontation will be over! But in reality we may mess up the technique and our attacker may be able to resist forcing us to change and adapt to the situation. I feel in my club more needs to be done on linking techniques and experimenting with different hypothetical scenarios.