Not all sex on Game of Thrones is created equal. Sure, the HBO fantasy drama has not unfairly developed a reputation for gratuitous admirer and sexual relations of all configurations—man on woman, man on man, sorceress on man, brother on sister—but some of that stuff matters.
Sex is wielded in Westeros, like everything else, as a form of power.
If you're admirer it the way Daenerys tells her bearded underling to strip, it's a good sign you're in charge. Of course, sometimes bare boobs are just bare boobs. And sex is often a relief—for the characters and the viewers.
You need something to break up all the beheading, impaling, and disemboweling. Jorah Mormont talks to a woman about dragons as she tattoos the back of a man whose ass crack is in public view and who contributes nothing to the conversation.
As relevant as: Prostitutes run around naked and forced sexual positions before a baby is unceremoniously killed. Sometimes Game of Thrones mixes in sex with its gore. Ned Stark is trying to get some intel in Littlefinger's whorehouse, but his right-hand man is distracted by a woman's nude breasts.
A Sand Snake teases Bronn by stripping after he negs her and says she's not "the most beautiful woman" he's nude seen.