Age of consent laws are there so that you have to draw the line somewhere hat would protect majority of people but hat doesn't mean there are individuals who aren't mature enough as people mature at different age. Especially when you consider that age of consent was much lower in western countries in the 19th century and below and that age of consent laws differ in different countries and cultures.
There's also a complexity that people who are involved in underage sexual relationship see it as a positive experience. 47% of high school student reported that they had sexual intercourse before. Majority of those events would have been positive experience. What makes you think that just because the sexual experience was with someone over 18 that it would automatically be negative experience. not saying that adult having sex with adolescent should be legal because there are reasons beyond causing trauma why it should be banned, but the truth is that these events would not be perceived as traumatic or negative experience.
Obviously he isn't defending paedophile of sexual relationship or people pre-puberty which is indefensible. He pointed it out himself that he isn't talking about paedophile a in the video that Jimbob posted
Although considering that he is from the conservative community who are nortoriojsly sexually puranitarian. He probably shouldn't have said that. He could have gotten a way with that as a liberal but not as a conservative