@hidayato no you don't. The point is, what draws the line between hentai and heavy ecchi manga (which may also depict sexual intercourse) is whether the genital parts are shown or not (no, not even censored, there is none in the first place). Those listed here are just for reference, and think about it, does any non-h publisher want to take the risk of publishing a hentai? Read the comments all over again, don't mind the offensive words. He may sound aggrorant, but what he said is on point.
P.S. ironically, ecchi means H itself. I know, it is kind of confusing.