Only if you believe he kissed Cooper. Only if you believe he was paying much, if any, attention to Cooper that morning. RH's text and online records strongly suggest RH wasn't paying much attention to Cooper that morning at all, not from the time Leanna left all the way through their trip to CFA.
It's interesting that anyone thinks RH is believable when he told LE about kissing Cooper, and about hot car deaths being his greatest fear, and about his thinking of Cooper when he watched the vet video, and about this death being his worst fear come true, but ....not about what else he said to LE.
What he told LE makes complete sense when one sees a man who didn't have any intention of harming his son, but who knew he was negligent that morning, and knew as well the police already had possession of the evidence (his phone) that could send him to prison for years for crimes he had committed - sexual exchanges with minors.