What etiquette is involved for copulation in hotel (not motel) beds?
There doesn't seem to be a lot of information about this around.
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There is nothing wrong with having sex in hotel beds. Treat it like your own bed. Don't stain the sheets too much, since someone else has to clean it.
Think of all the people going on "romantic breaks", or honeymoons, or a wedding. Plenty of people have sex in hotel rooms.
You should put a 'Do Not Disturb' sign on the door.
Close the door. Even better, place the Do Not Disturb sign too, particularly during hours when house-keeping usually takes place. Plenty of maids open the door quickly otherwise.
You do not have to make the bed after, but do cleanup after yourselves if there are any fluids left outside of you or your partner(s). As a corollary, dispose of condoms yourself. Don't leave any used ones on the floor or other furniture. Maids are there to cleanup but most would rather not clean that stuff!
Do not worry too much. Hotels are often used for sex. You will make noise and you will hear others make noise. I would try to keep it down but no one expects you to be whisper-quiet.
Generally, the only etiquette involves getting informed consent. If you are unsure how to get informed consent, I suggest following this script:
Party #1: Pardon me. I hate to bother you. Would you like to do it?
Party #2: Why yes. And it isn't any bother at all.
Party #1: Then we shall do it.
Party #2: Agreed.