If she's wearing a dress, it becomes lingerie. If she's wearing jeans, those become lingerie. I like that rare girl that does not put on lingerie, but transforms everything on her into lingerie! A woman that does not put on "clothes" like a suit of armor to hide her body and mentally push men away, but one who rather wears clothes that draw him in and offer her up!
That said, once the outer garments come off, I can't stand stocking clips, or garter belts, or LACE! ALL of it stops the flow and makes everything rough. Imagine if you were blind . . . would rubbing SANDPAPER turn you on? LACE = SANDPAPER, it's rough, course, NOT sexy to touch.
Stocking clips . . . why not just put a giant speed bump on your body, cause that's what it is. My hand should be able to caress up and down, nothing slowing it down, nothing to bump into, just firm smooth contact with the girl. Lingerie should be soft, satiny, with as little adornment as possible. It should be smooth and silky like the girl, as inviting as her skin.
Personally, I feel that whatever is on, should come off quickly, and be effortless to remove; and it should never block you. This is what makes garter belts so incredibly offensive, they seem like the modern version of a chastity belt. SANDPAPER armor around the midsection, concealing tummy and scratching mine.
As a personal preference, I hate the baby doll and silky robe as well. First, I for some reason equate them with plus sized women; and second they are saggy and clingy, so you don't move smoothly over her body, you get hung up in the folds of her formless lingerie. It's like being stuck in a satin bed sheet, when you are looking for the skin, just annoying.
Ideally, a hot chick should wear a tinie tiny micro thong made out of satin or lycra, with MAYBE a matching satin bra (topless is just as good); no lace or rough stitching of any kind. High heels, sure, and they should match the rest. And sometimes thigh highs, if the tops hold themselves up and are smooth with little or no lace. Occasionally, a soft fishnet dress is hot too, but it needs to be stretchy and soft.
That's my manifesto!