It doesn't make a "very close approach" to Venus; it doesn't even get inside the orbit of Earth! And its "very close approach" to Mars projects to be ~ 18 million miles away. That's not very close.
Very close in solar system terms - its not trying to hit any planet. No one said it was close to Earth - of the 3 planets it comes RELATIVELY close to, Earth is the furthest away and only as the object is leaving the system.
18 million miles is close in solar system terms - the solar system is huge, and 18 million miles is nothing.