Want you to take it like a thief in the night
Hold me like a pillow, make me feel right
As said in 1 Thessalonians 5 but in a completely different context: Rihanna wants this guy to take it (her) like a thief in the middle of the night.
She also wants him to be gentle, to caress her and to make her feel good. To make love, not just to have emotionless sex.
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