There should be a specific mood for this. Lazy just does not cover it.
Er. To make this relevant, let me find something to post....
Call Soft Enough by flambeau. It totally matches the mood here. SGA, Sheppard/McKay. Lazy-warm-content-comfortable-hot.
ETA: Languorous, I believe, is the word you want. "A dreamy, lazy mood or quality." -- justascream
I thin there will be purring soon.