"We color the kitchen."
Translation:Nós colorimos a cozinha.
We paint/painted the kitchen = Nós pintamos a cozinha
Nós colorimos a cozinha is a weird/uncommon sentence in Portuguese also, and I can't think of a situation other than innocent children happily saying this to now desperate parents who just arrived home from a romantic dinner in a restaurant.
As a northeastern, to me "colorir" is more related to paint or draw using crayons, but it would also be acceptable if you're painting the walls as well (it just sounds a bit weird, but it's still acceptable). Paulenrique is southeastern (right?), so I think it would be acceptable all over Brazil.
"To colour" signifies "to put colour on something", no matter the means you use in order to reach your ends. And it even may signify "to paint": you can colour something with paint, for instance. This is what I found in the Reverso dictionary (English-French). Anyway in any language a word usually presents many meanings and can be used according to your imagination, unless the sentence you write is grammatically correct. I think you can colour anything by any means that covers or fills this thing with colour, and that is for the best, for we are not speaking like robots. :)