Just the basic data about the people involved lends a strong creep factor to it, though.
Young, 30 year old pregnant woman answers door to 57 year old male neighbor, he hugs her and then rubs her belly while saying, "I just want to be friends". 30 year old pregnant women are usually very pretty and appealing and cute. 57 year old men generally are not so cute, especially if they are all "touchy-feely" towards a young woman.
Was there a minor bit of conflict between these neighbors earlier? That is not the way to approach a person if you are sincere in making peace with them. Apologizing sincerely, even for an older man, is a humble or at least formal act. The whole incident scenario is just creepy, and the man shows he has some serious issues with habitually dominating people, or just women, by immediately moving into close physical contact with her like that. He's a neighbor, which means he's a randomly encountered community member that you don't get to choose, living next door to you when you move in. Neighbors generally are not people you just hit it off with immediately and proclaim you are BFF's. He's not her dad, not her uncle, not a close family friend. I'd have kneed his groin, screaming at him to get the fuck out and called the cops.