I go according the vibes. I have met masseurs that strictly stated that they provided sensual and/or therapeutic but turned to something better and great. I believe it is a plus that I am not only nicely endowed and just reserved, but I tip great as well and don't expect much and go with the flow.
Sensual, to me, means massage with some form of light sexual act while erotic is what it is, erotic which can go from frotting to other things, for me.