Its a lot more difficult than it sounds, they don't like you getting in the bed only on top so less tidying up afterwards.
What I do is straight out of the shower walk right up to the bed pull the sheets right down and climb in. Then you say "come on babe let's snuggle"
I love an ol naked cuddle in clean white sheets bit of kissing and touching real gfe like.
And then helping to make the bed afterwards like a real couple.... Ain't I just so rosemantic??