It's domestic in a way Claudius didn't realize he could have -- the way Galahad has become easier with closeness, with exchanging acts of intimacy and care. And Claudius does feel cared for, more than he feels roused by Galahad's hands on him undressing him. Small sensory annoyances, like the way his shirt sticks to his skin, go away and he's glad Galahad thought to do this small thing for him. He wonders whether it's anything like the relief Galahad must feel when his hair lifts from the back of his neck. They find ways to make the world more comfortable to exist in for each other. "How dost thou feel?" he asks, and signs the question.