The answer to your question cannot be answered in a generalized or global way. What this means is that different places in society have different tolerances and acceptance levels of intimacy in society.
Another factor which must be considered is the definition of intimacy. Intimacy can be defined from a close friendship to something of a private and/or personal matter. Therefore, the way society sees intimacy depends upon the definition which they choose to align with the acts or behaviors seen.
For example, in the high school environment (a limited society), intimacy is not accepted at all. Students are not allowed to show affection for each other (deemed public displays of affection or PDA). It is looked down upon by administration to hug, kiss, or hold hands. It is simply not accepted.
Outside of that, if one were to align the definition of intimacy with something of a private/personal matter, many in society would be uncomfortable to be around persons having a "private/personal" moment.
As for the general views, one could assume that intimacy tends to lead towards the definition which depicts personal and private matters. People, in general, are uncomfortable when others around them are engrossed in private matters (for example, "making out" or sexually explicit behaviors). Some states even have laws which regard such actions as lewd and lascivious behavior.