Yes, you should touch the steaks to test for doneness, but that doesn't mean that you should be flipping and moving and poking a lot. Steaks should only be flipped once, and only moved once from a higher to a lower heat. And don't poke them with anything but your finger! Put the meat on a hot grill—they should sizzle immediately—and leave them there until they release on their own accord. If you're pulling or struggling with them, they are not seared and not ready to flip.
Clean the bottom of the grill with a soapy sponge. Once all the chunks are gone, scrub the bottom with a sponge or scouring pad and soapy water to remove any built up grease or grime. Lots of drippings and food scraps tend to build up under the burners of the grill. Pay close attention to this area and clean it as much as possible to avoid corrosion.