A firm kiss for the helmsman (3)
I believe the answer is:
cox
'the helmsman' is the definition.
(cox is a kind of helmsman)
'a firm kiss' is the wordplay.
'a firm' becomes 'co' (a firm is a company).
'kiss' becomes 'x' (X can represent a kiss).
'co'+'x'='COX'
'for' is the link.
(Other definitions for cox that I've seen before include "Steersman" , "Steerer of oarsmen in rowing boat" , "Passenger vehicle" , "Helmsman" , "He's in charge of a racing boat and its rowers" .)