Yeah, sleeping in the nude is great, especially if you have really nice sheets, especially like silk ones. Feels great all over your body and it can be nice to just lay there and thrust yourself into some nice silky sheets. Don't usually cum from that but it helps me relax and fall asleep.
I am married. I always sleep naked and my wife wears a short nightie. If she is asleep and I feel horny I masturbate or rub my cock against her body until I cum.