I have slept in the same bed with many buddies over the years. It seemed stupid to me to sleep on a cold hard floor when there is a comfortable bed that can be shared. That being said though, we were both wearing underwear only at the time (boxers or briefs). It was always uncomfortable for me because I'm used to sleeping in the nude as I've been doing it for about 30 years now. I feel restricted when I wear any clothing to bed, so I don't sleep well. However, I kept my underwear on out of resepect for my buddy that I was in bed with. Given the chance though, I would have peeled them off in a second if I thought my buddy was OK with it. I have no modesty issues whatsoever, so not a problem for me if my buddy did the same. Several times though, I woke up and we were snuggled together. If we were naked, that could have caused some serious embarrassment as I have always gotten night time erections. One night (in my single days), my buddy and I got into bed together drunk in our boxers, but ended up doing a little exploring of each other's bodies (no sex, just a lot of touching, rubbing and fondling). I always wondered what would have happened if we went for it. Being that it was the night of his stag, and his other buddies were in the next room, it wouldn't have ended well. He of course denied everything the next morning even though he reached under the leg of my boxers (they were baggy back then) and fondled my balls, rubbed the shaft of my cock, pulled me on top of him where he stroked the hair off my face and my back while I was lying on top of him. That happened almost 19 years ago, and I still jerk off thinking about it today.