If there are just the two of you and you his shoes are off and he has his legs on your chair then this is just fine. Some people will put their legs up because they feel relaxed and comfortable in...
Depending...
You can go to some salons and have laser treatment that get rid of the hair for quite a long time...
Or you can wax/shave or you can get an Epilator which is like a bunch of tweezers...