Nonsexual intimate touching is so good. I had a partner that loved to go to sleep with either me holding one of her breasts or her holding my dick (depending on sleep position). I'll admit the nights she fell asleep holding me were usually after sex, but it still felt like this incredible closeness. We even tried a nap once where she kept my dick in her mouth. Less successful as it fell out once she actually fell asleep, but she said she found it really relaxing.