Poison is a toxin that gets into the body via swallowing, inhaling or absorption through the skin.
Venom is a specialised type of poison that has evolved for a specific purpose. It is actively injected via a bite or sting.
I wanna love you but I better not touch (don't touch)
I wanna hold you but my senses tell me to stop
I wanna kiss you but I want it too much (too much)
I wanna taste you but your lips are venomous poison