On the '90s Nickelodeon sitcom, Sam would frequently enter Clarissa's bedroom via a ladder attached to her bedroom window.
"I think they were trying to show that a girl and boy could be friends," Hart told Entertainment Weekly. "They could be platonic."
She continued: "I think it was just that Clarissa was a good kid and was trusted by her parents to do the right thing. They knew [Sam] was her best friend, and he was not a threat."
However, Hart admitted that the cast and crew of Clarissa were "aware" of the implications of Sam and Clarissa's relationship.
She revealed: "There was a blooper reel where Joe [O'Connor], the guy who played my father, said, 'Sam comes in here, every day, unannounced, into my daughter's room'. So we were aware of it on set, but on the show we never addressed it."
Hart's new show Melissa & Joey was recently picked up for a second season by ABC Family.
Watch Melissa Joan Hart discuss Clarissa and Sabrina the Teenage Witch with Digital Spy below: