As a teenager and into my twenties it was common for me and my friends to share a bed.
i had a big crush on one of my best friends and a number of times I would spoon him and try to get hold of his junk. Not once did he freak out. Everytime, when i got my hands in his pants and started to fondle him, he would just grab my wrists and move my hands away, up to his chest. He would ususually say "hey man, I'm tired, I've gotta get some sleep. Early on, he would let me fondle his cock and balls for several minutes, but he never got hard. I suppose that was the time when I learnt that i was gay and he learnt that he was straight. I still cherish those mornings waking up with his warm breath on my neck and his arms around me.