The other dances related to salsa will help with this too (Bachata, Merengue,etc most likely you'll dance them too) because sometimes you dance them even closer.
Yes, however it's all about starting somewhere. When I started dancing Salsa I wouldn't have felt okay with the closeness with which I dance Bachata these days.
I even remember a time where I attended one pre-party class that showed the basic Bachata/Merengue moves after I danced a month where a girl told me that's okay to be a bit closer.
These days the same closeness bores me when dancing bachata.
Becoming comfortable with closeness is a process that takes a few months. Dancing is no quick fix that changes you in a single day but it works, if you simply continue to show up.
On the other hand eliminating the nervousness through alcohol is a quick fix with the disadvantage that it reduces your sharpness in your interactions a bit.
You can even have a very sexy dance with someone's spouse and it doesn't mean anything.
In general that's the case but sometimes it also starts to mean something
Especially if you dance with someone who doesn't often dance close.
When dancing Bachata there always the opportunity to escalate the intimacy and to do to much.
That's however a game that you don't have to worry about in the beginning.