Relationships in later years

I guess I'd be ok with just having a girl friend or girl friends without legal connections. There's a term for it but i can't remember it. Just be nice to have someone to have similar interests to discuss, share meals with ( I can even cook, but not every time), go places with, and occasionally ger our rocks off together. Not like we'd want to start a family. Just intimate touching. A soft massage as the AMPs call it. Not interested in having a concubine to care for, or to be a sugar daddy, a dog sitter, or a baby sitter.