Nakedness is boring and unoriginal. It takes zero planning and no forethought.
Lingerie on the other hand, requires that you think ahead of time. The act of choosing the lingerie, buying the lingerie, deciding when to where the lingerie and actually putting it on all result in thinking about sex before the event.
When you are young and relationships are many and fleeting, the need to manufacture novelty just isn't there.
In a committed monogamous relationship, since your sexual partner stays the same, lingerie helps add novelty and keeps things interesting.
You are also thinking rather narrowly with regard to the lingerie that is available. There are many designs that are easily worn while having sex.
First off, it is special as well as sexy. Secondly, they may see it for a brief bit of time but in their minds eye, they will see it for years!
Just a tip for you, maybe if you tease him for a few minutes while in it by being coy you will have more time in it and will likely push him over the edge in being that one girl, one night that he thinks back one even decades later.
Firstly; I never see it in real and rip it off.. But then I must tell that women must seem girlish and like a real woman; like the men must. Every girly thing will fit on them, and will arouse our feelings :) This is the reason.
We like lingerie probably because of the mystery of what's underneath there, even if we've seen you naked before. It's like opening a Christmas present and you kind of know what to expect but you're still very excited on what's underneath.
For the tease... it's the gift wrapping, before the real present... and sometimes she will make me wait before I get to rip, or even carefully and slowly remove the lingerie... she likes the anticipation and building that sense of sexual yearning...
My boyfriend rarely notices it unless I make a point of walking around undressed and just in said lingerie.
I love buying it, nonetheless though. It makes me feel much hotter plus confident knowing that I'm wearing something very sexy-looking underneath. Helps me get in the mood for my boyfriend's benefit even more than usual.