Aaron was currently impotent.
It was more than Aaron distracted easily than him not being able to get excited. He couldn't focus entirely on the arousal he could feel before managing to get hard. His mind wandered. Because of that, Aaron couldn't have sex, nor being completely naked in front of Lucifer, but he could do kissing. Actually, he liked to lose himself in it. The small noises they did, the way Lucifer's fingers curled through the long strands of his hair to pull him close, closer until he was able to feel teeth against his own and knew their mouths would be swollen and bruised by the end.
And with that, Aaron gained more confidence, his own hands moving to undress Lucifer's upper body until they were in the same condition. He knew that if they did it like that, quick and with rough touches, Aaron would not stop Lucifer from pulling his pants down. His thoughts wouldn't bother him and his doubts would be forgotten.