Kicking and punching is not taught. We train to avoid attacks, and to safely respond to them if unavoidable. We become one with it. We then use this loss of balance to effect a finishing throw or pin. O Sensei often spoke of leading the attacker's mind or intention.
Advanced practitioners learn to redirect the attack even before physical contact is made.
On the other side of the coin, the attacking partner must harmonize or blend with the movement of the throw or pin in order to safely respond to it. This is the art of 'ukemi'. Harmonious minds and emotions help both persons relax. Centering and balance improve, muscles become more flexible, timing improves. This makes the techniques more effective and the ukemi safer.