For some reason the concept of having sex with someone in a bed has come to be called "sleeping together." Somehow the sex has come to imply a sense of close intimacy, when in fact sex can be , and often is, just recreational partnered exercise.

Real intimacy comes from repeatedly lowering your guard and letting someone near you when you are completely vulnerable; while you are in a deep sleep and defenseless. The person you take to bed to get a good night's sleep with is the person you are the most intimate with. If good sex results from that, well then BONUS!
XOXOXOX