Before a visit from our very, very BFF, we had 2 choices of sleeping accommodations. I fretted that he'd feel somewhat left out if we suggested the HTT, which we had at that time. Our trailer is always undercover 24/7 and 30 feet from the back garage door, but you never know how something is going to be perceived. Finally I said, "you're welcome to sleep in my sewing room on the futon or out in the ROO....your choice". He laughed and said "I've slept on that futon before, I'll take the ROO". I put some fresh fruit, a small candy dish, some drinks, etc and he said it was the best guest house he'd ever been in. Granted, he's had RV experience, but each one is a bit different, so DH just gave him a 5 minute refresher course and told him if he needed anything, just come through the side garage door. Absolutely no problem. Same arrangements with our DGS#1 and GF....NO RV experience and they did fine. Problem was that it was early March and we used the furnace and forgot to turn it off during the day. We went through both tanks of propane and thankfully discovered it the day before we left for FL. Whew!
I, too, am wondering about the "firmly" part. It sounds a bit un-welcoming.