Nope, that didn’t ruin their relationship at all! (I think!) When Yato confronted Hiyori about the kiss, she in turn said that he kissed Bishamon, and even presented him a picture of the “drunken kiss” from Chapter 24.

Well, we don’t have the full chapter yet so I really don’t know, although the topic of their conversation changed later on. Hiyori even said that she understands it fully (whatever Yato’s worrying about) so he should trust himself more.