The verse given in the question deals straightforwardly with sexual pleasure. Should we try to understand it in the spiritual sense? The answer is no since the Atharvaveda deals with sorcery, black magic etc.
The Atharvaveda has some special features because of which it stands a
little apart from the other three Vedas, especially the Rgveda. It
deals with the things, here and now, then the hereafter, and the
sacrifices which are a means to it. Major portion of this Veda is
concerned with diseases and their cure, rites for prolonging life,
rites for fulfilling one's desires, building construction, trade and
commerce, statecraft, penances and propitiatory rites and black magic,
though high philosophical ideas, much nearer to the thought pattern of
the Upanishads, are also to be found.
A concise encyclopedia of Hinduism by Swami Harshananda
A spiritual reading of the verse would go against the grain of Atharvaveda. Of course one might ask why Atharvaveda has all these nonspiritual things.
Hinduism says that there are four goals of life, dharma, artha (wealth), kama (desire) and moksha.
Many Hindus concentrate on the first three goals. They strive to acquire wealth, desire for good things of life and strive to do all these virtuously (if they do not want to ignore the precepts of dharma). These Hindus do not give much importance to the spiritual aspect of Hinduism. They don’t, for example, do spiritual practices and some may even be atheists. A system that includes atheism cannot be called religion. So one can characterize this as simply a way of life. This is dramatically different from other religions where there is no freedom to disbelieve.
There is another way to live. A small number of Hindus strives to attain moksha and give up striving for wealth or desire for good things of life.
The key point is that Hindus have a choice. They do not have to blindly believe in a fixed doctrine to be a Hindu.
What is the spirit of Hinduism? What are the essential principles? The
spirit of science is not dogmatic certainty but the disinterested
pursuit of truth, and Hinduism is infused by the same spirit. Fixed
intellectual beliefs mark off one religion from another, but Hinduism
sets itself no such limits. It is comprehensive and synthetic, seeking
unity not in a common creed but in a common quest for truth. Hinduism
is more a way of life than a form of thought. It insists not on
religious conformity but on a spiritual and ethical outlook in life.
It is fellowship of all who accept the law of right and earnestly seek
for the truth.
History of Bengal, Bihar and Orissa under British rule by L.S.S. O’Malley quoted in British Paramountcy and Indian Renaissance Part II edited by R. C. Majumdar
Hinduism allows its follower to choose freely his own way of life. The bulk of Atharvaveda is meant for Hindus who are not interested in spiritual life but want to improve their life in the here and now and if possible in heaven. This is the reason why such verses should be accepted in a straightforward sense.