It completely depends on the context, where you’re doing it, when you’re doing it and why I guess.
It’s much more intimate in a relationship when your alone and relaxed in my personal experience. There’s the kissing and touching that goes along with it, but then, in a completely different situation, for example, if you were getting off at a party or something the entire situation may be more or less intimate.
It really depends on the individuals taking part.
I do know people who’ve had really awkward experiences with guys that they wouldn’t want to repeat though, so it’s not all ‘hot’.