Asuma and Kurenai were not related. They were lovers. Asuma was the father of Kurenai's baby.
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Asuma did not get married. He was in a relationship with Kurenai, and she was pregnant with his child. However, Asuma was killed before the baby was born.
Kurenai loves Asuma. But there's a chance that she'll fall in love with another jounin since Asuma's dead.
There are hints through parts of the series that Kurenai and Asuma were a couple, but it wasn't until near Asuma's death that we found out how involved they were. Kerenai and Asuma were lovers, and she was pregnant with his baby when he was killed. Kerenai was devasted when she found out the news.
Kakashi Hatake Might Gai Asuma Sarutobi Kurenai Yuhii
They date During after missions when they are in the village