Same, when I book a massage, it's because I want a massage.
I enjoy lying there naked and often hard and having that touch whether it be a proper deep tissue/sports massage or something with more sensual strokes.
If some light play happens as well then great. One of my best massage regulars was a guy who also got naked from the start so there was some nice body to body and mutual touch but it rarely got more intense than that.
I generally avoid the escort end of rentmasseur as I'm not really looking for that level of erotic. In fact I rarely use it at all because, in London, most of the properly trained masseurs who are also open to more aren't on there.