I definitely crave physical contact. That said, I also crave some sexual contact and touching, but I also love sensual touching without it leading to sex. However I'm somewhat touch averse, I have always hated if strangers touch me, but loved if friends touched me. For example, goodbye-hugs with acquintances and not-so-good friends or relatives can be very akward and I tend to avoid them.
With friends I really like almost all kinds of physical contact, as long as it is caring and affectionate. Hugs, cuddling, sharing a bed, caressing, even kissing. How far I want to go really depends on how good the friend is.