Why don't you just ask your female friends what they are willing to do? That way there is absolutely no confusion between the two parties. It may be that these girls do not want to have intercourse but still want some kind of sexual contact. The next time you are in a situation like this and the girl starts sending you mixed signals stop and ask her exactly what she wants from you.
It may sound "unsexy" or not in the moment, but you have to protect yourself. You don't want to get caught up in some drama just because you didn't know what she really wanted to do.
To answer your question, no NEVER means yes.
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