Correct; this is yet another reaction started by radical feminists and followed by naive no-time-to-read-if-true followers; (e.g. http://www.youtube.com/watch?v=M2KPeMcYsuc)
The concept of consent does not vanish when you're in a relationship, and if you need a guide – especially one that advocates being dominant – then heaven help you.
The misquoted parts is from the chapter about when you're already in a relationship, and ready to get physical.