For me and my best friend and lover of over 20 years, it's very simple. He and I wear absolutely nothing at home, ever. My favorite pics in this thread are the ones showing naked men doing household chores. There's nothing more sexy than watching him clean house wearing nothing but a smile - all that bending, squatting, stretching, reaching... getting to see every part of him from every angle while he works up a sweat...
We love coming home from a long, hard day and shedding the required clothing dictated by society. Roaming around the house completely naked with nothing restricting or bunching up is true bliss. We feel more relaxed and less stressed that way - letting everything hang out and swing freely in the open air is the only way for us to live. Bottom line for us is this - if we're home, we're naked. We have always lived this way and see no reason to stop now. Everyone (friends and family) who come to visit us knows this and we refuse to dress simply because we have guests. They are free to join in and get naked or not, we don't really care either way, but we refuse to dress in our own home for anyone! Those few who cannot deal with that simple rule know better than to come to our home. We are perfectly willing to meet with those people somewhere else if they are uncomfortable with our naked home life.