I wouldn't suggest this to everyone but I've just made this discovery.

My dog when he comes in from his walk, he gets these really hyperactive moments where he does side crunches and tries to bite his legs. It's the best thing...

But I've noticed that sometimes when he does it he kicks me... Not in a bad way just playfully. So I've started touching him with my foot. And today I put my foot on him and he fell asleep.
He is obsessed with snuggling so I think any form of contact really comforts him.