It is known that the blessing of the Messenger (peace and blessings be upon him) is intrinsic, but why did not his Companions rub themselves against him?

Question:
May Allah reward you. Your Eminence the Shaykh, the questioner says: It is known that the blessing of the Messenger of Allah (peace and blessings be upon him) is intrinsic, but why did not the Companions (may Allah be pleased with them) rub themselves against him, as they did with what separated from his body (peace and blessings be upon him)?

Answer:
Because the Messenger (peace and blessings be upon him) did not legislate for them to do this; he did not legislate for them to rub themselves against him. They stood by the commands of Allah and His Messenger, doing nothing except by command, and the Messenger did not command them to rub themselves against him.