We're properly dressed when we're outside, but isn't it wonderful to be shamelessly nude every now and then when we're inside?
Some absolutely love that and are really turned on by it, and others may dream of it, but do not (yet) dare to act on those desires. When I guide you (or push you) across that threshold, it can be the start of an unprecedented feeling of arousal. Because you want to be nude, but you're too afraid to be, yet when it's by my command, you bear no responsibility for it whatsoever.
For I am the one ordering you to do this... and you can simply enjoy being nude.