Welcome to the forums!
What you have described about your budgie wanting to fly around is perfectly normal, budgies are birds and they have wings for reason which is to fly when they wish to do so. It's not realistic to assume that even for a fully tame pet bird that he/she will not fly around and would constantly be on our shoulder or finger.
The purpose of out of cage time is also to provide the pet bird the chance to get some good exercise, to stretch the wings and give some flights across the room(s), provided they are safe for the bird.
The kitchen area is one of the most dangerous places for a budgie to be in, especially during meal times, when preparing meals, cooking and making the normal chores on that area.
Since you seem relatively new to budgies, the information on the several articles and sticky threads at the top of each section of the forums will be extremely useful as you become more familiar with the species.