One thing I've noticed that my H and I do quite often, which is a HUGE mistake, is to wait too late in the evening for "US". We also get engrossed in movies, or our tv programs. Which is more important? Your R or something on tv? Pretty easy to answer isn't it? Programs can be recorded or paused (if you have tivo or something similar)....movies can be watched later (or whatever).
If we wait until we are finished watching our programs we are inevitably too tired and only interested in sleeping (especially my H) at that point. I think I now have him understanding (especially with our recent developments) that if we make time for "US" earlier (I'd say by 9pm) then we can both relax the rest of the evening happy campers...and we have enough energy to do what we want.
Of course....time has yet to tell if this will continue.