Walton Goggins, Charlie Hunnam, Kim Coates Walton Goggins, Charlie Hunnam, Kim Coates

Guess who's back?

Tuesday's episode of Sons of Anarchy featured the return of Venus Van Dam, the transgender escort played by Justified's Walton Goggins in each of the FX drama's last two seasons. But this time things went to a whole new level.

Sons of Anarchy: Walton Goggins on playing the softer side of Venus Van Dam

When Jax (Charlie Hunnam

) needed to track down the wife of a preacher the club had killed, he called on Venus to help. (Turns out the dead man was one of Venus' frequent clients.) According to Goggins, coming back for Sons' final season was a no-brainer. "I look for any opportunity to put on high heels honestly," Goggins tells TVGuide.com with a laugh.But Jax & Co. were surprised to learn over the course of the episode just how friendly Venus and  fellow club member Tig (Kim Coates) had become since the last time we saw her. In fact, when Tig ended up on the wrong end of a shotgun during their adventure, it was Venus he wanted by his side. And as the two chatted, Tig eventually pulled Venus in for a kiss."Tig was in a place where he needed someone he could depend on and he called for the person who understood him better than anyone," Goggins says. "Tig instigated [the kiss] and I think it was a line that Venus wasn't willing to cross in Season 5 with him, but their relationship went in a different direction and they became very close friends. And when intimacy is in the room, more often than not, romance follows, no matter who it is. It's no different for someone in the LGBT community as it is for a heterosexual. That's what I thought was so inspiring about that for me."

Sons of AnarchyJustified's Walton Goggins on his jaw-dropping Cameo

Although Goggins admits that Venus was scared at first ("The hesitation was, 'Oh my God, I have feelings for this guy, and is this really happening? Do I want to cross this line? Because I don't know if I can stop if I do cross it,'" he says), he says it's important to understand the bond Tig and Venus share — one that has mostly developed off-screen."Wounded people attract wounded people," Goggins says. "When you have been alone in the world and you find someone who makes you feel less alone in a positive way — regardless if that's man, a woman or a transgender — that's the person that you call home. What [creator Kurt Sutter] was able to do was measure it out in significant moments so that you felt the history between these two people and you felt the countless nights they've shared a bottle of champagne sitting on Venus' deck just talking about life. When you have someone who understands your pain and you understand someone else's pain, that's what it's all about."And the relationship may not stop there. Goggins will return again in this season's 10th episode. Can we expect even more intimate moments for Venus and Tig? Whatever happens, it certainly made an impression on Goggins."It was the one of the most cathartic, one of the most important things I've ever done as an artist in 22 years," he says. "It was one of those moments that you do this for. It was sublime and what it says about Venus and Tig is as beautiful and poetic as anything I've ever seen. You'll see them in a way you've never seen them before."Sons of Anarchy airs Tuesdays at 10/9c on FX. What did you think of Tig and Venus' liplock?