I would agree that the word could be understood that way (interchangeable with welcoming) ; however, 'embrace' is often used in more friendly, warm, personal ,even loving situation.
A mother embraces her new born child.
A father embraces his daughter after five years apart.
China embraces (a historically cultural event).
and so on.
A mother world not simply welcome her newborn child in the dry and impersonal sense of the word, like a hosted welcomes individuals to a restaurant.