Reaction force-aware control is essential for legged climbing robots to ensure a safer and more stable operation. This becomes particularly crucial when navigating steep terrain or operating in microgravity environments, where excessive reaction forces may result in the loss of foot contact with the ground, leading to potential falls or floating over in microgravity. Furthermore, such robots are often tasked with manipulation activities, exposing them to external forces in addition to those generated during locomotion. To effectively handle such disturbances while maintaining precise motion trajectory tracking, we propose a novel control scheme based on position-based impedance control, also known as admittance control. We validated this control method through simulation-based case studies by intentionally introducing continuous and impact interference forces to simulate scenarios such as object manipulation or obstacle collisions. The results demonstrated a significant reduction in both the reaction force and joint torque when employing the proposed method.