Well, I'd prefer to be seen flaccid rather than semi hard since I am a "shower". I like to keep them guessing on how big I am semi or erect.
When erect I am pretty average size however, I have a Willy that shrinks and hides in nervous situations. I believe it stems from a humiliation episode when I was very very young that has plagued me for 50 years plus... So I would prefer a slight semi but chances are slim it will play along. Lol
I know of a guy who uses cialis, not because he has ED but because it makes his flaccid cock looker fuller. Like a semi but without the 'lift'. Apparently, after cumming, he is 'fuller' more plump than before which his GF enjoys more while she sucks him back to hardness again. He also free-balls all the time as his cock is more noticeable generally, which he likes because when out and about he thinks people notice it. And, of course, a brief squeeze or play brings it up, just to make sure people will notice it. I noticed it one time and it was a mutual friend who explained that to me.
I also get aroused by SPH. Well, sometimes aroused. Sometimes it's just giddy fun for me, depending on who's making fun of my size and the circumstance. Actually, one of several things I like about keeping myself completely shaved is that it kinda puts how small I am when soft on display. So, while, yes. It does basically kind of look a little bigger without pubes, it paradoxically can be "perceived" as smaller without the hair because there's nothing to hide its honest size and I gotta be like, "Yep. That's my little wiener. Nothing to hide behind. What you see is what you get." As for panties. The issue is not your penis slipping out. At least not for people with small flaccid penises like you and I. The issue is that your scrotum cannot stay cradled in the panties. Again, with most brands/pairs. I've recently found I can wear Calvin Klein bikini panties without any tucking mechanism more or less fine without my scrotum constantly poking out the side. They are very comfortable.
my testicles are on the small side as well. ( it is another part of the reason the average 12 or 13 year old can outman me - I was noticeably smaller than all the guys in early high school phys ed and hardly grew any bigger sonce then.)
I'm definitely a naturist at heart, absolutely love being nude with others, men and women, especially outdoors (though I don't get to do it as often as I would like). It's not just only about being naked and natural, but also showing others my nakedness, especially my cock, as well as seeing others naked. So it doesn't matter as much if I'm flaccid, especially since 99% of the time my flaccid cock is about 3-4 inches long. But I still prefer to be semi hard at 5 inches, or fully hard at 7.5 inches, because I so much love seeing and showing my cock in that state. Regarding that, it's about showing them, not about them seeing me that way. It's about showing my inner sexuality, in an outer way. That's especially the case when I'm being nude with guys only: my semi hard or fully hard cock in their presence just reflecting my inner homosexuality, which I love so much and I'm so proud of.