A few more suggestions to consider:
Speaking of massage, how about a head rub, back rub, or foot massage? These are simple, informal little things you can do, in public or in private. Remember that humans, being a primate, bond through any pleasant physical contact, not just sex or foreplay.
A playful tickle. Perhaps even some playful wrestling, if you and your partner know your strength enough not to hurt each other. Some find this arousing, while others just consider it good childish fun.
Crack your partner's back, or help with their exercises, or other borderline therapeutic aids. You may scoff at this - if so you've never had your back cracked by somebody who knows what they're doing.
Hey, and don't forget a good old-fashioned hug! In fact, we could stand to have a more liberal-hugging society all around. At least some of us would benefit if at least once per day a perfect stranger hugged us.
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