I am comfortable with my body, love and trust my DH but cannot completely relax and through caution to the wind when we're having sex. We do have 2 dc age 10 and 12 who are sometimes awake when we go to bed but we have a lock on the bedroom door and to be honest I feel the same when they are staying at friends. I think we have a good sex life but it's not reaching it's full potential yet.