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Never sometimes means never
First of all 8.02 reads like this. A pitcher cannot lick his fingers when in the 18 foot circle SURROUNDING the pitching rubber. That is when it is a ball. Once the pitcher is on the rubber different rules apply. Look to 8.05.
It is a balk when touching the plate the pitcher makes any motion naturally associated with his pitch and fails to deliver.
It is also a balk to remove one hand from the ball without delivering a pitch or throwing to a base.
In short once on the rubber you can't be licking fingers, adjusting hats, or things like that without being called for a balk when runners are on base. You must pitch with one continuous motion without interruption.
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