His arm has slipped around Bucky’s hips in his sleep and after a moment Steve gets what it is this time. Bucky is hard from being pressed so close and the complete ignorance in his face of what a person would do here is awful. The distance HYDRA and their mindwipes carved between them is awful when the Bucky he knew would have turned to him for a kiss and rolled on top of him without a thought. But all that closeness of feeling like one person is buried now under the blankness they left and the grueling struggle to learn how to live his life again.
Steve teaching Bucky how to pleasure himself, this is bittersweet with Steve’s longing.