Intimate, comfortable position set up (3)
I believe the answer is:
pal
'intimate' is the definition.
(thesaurus)
'comfortable position set up' is the wordplay.
'comfortable position' becomes 'lap' (as in sitting on someone's lap).
'set up' says the letters should be written backwards.
'lap' in reverse letter order is 'PAL'.
(Other definitions for pal that I've seen before include "Friend (colloq.)" , "Close friend" , "Brother" , "Mate, buddy" , "China" .)