"I'd be less useful to you," Cassian points out. "Sleep lowers the body's core temperature." Therefore, not as much warmth, and it'll take more to get back up to full physical arousal when he needs the adrenaline again.

...'arousal' perhaps not the best word to think, there.

He lets out a quiet, amused huff, and pulls up enough that he can take Poe's arms and wrap them around his own waist. In full gravity, that would be a little less feasible, but his weight isn't resting on Poe's arm. Circulation should be fine. "Don't be shy," he says. He's been in much more embarrassing and compromising positions; this is nothing. As long as he can keep Dameron warm, alive, and ready to move, he'll have done what he needs to.

Conversation would be good, for that end. "Where did you grow up?" he asks. "Yavin?" -- to try and confirm his guess. "I thought you were supposed to like to touch people."

Though, to be fair, it might just be the aura that Cassian puts off. Do-not-touch. Do-not-come-close.