Does comfort make us forget our manners?

I was standing in my kitchen this evening in a pair of shorts and my husband came in and tilted his head. He says “your legs are really pale, and your skin looks dry.”
Not untrue, I am pretty pasty and my skin is dry. Even so, it made me think. After spending a lot of time with someone, do we forget to think before we speak? What he said didn’t hurt my feelings, but it occurs to me that you wouldn’t blurt such a thing out to just anyone. Do you do the same thing with your spouse? Close friends? Other family? Where do you draw the line?
Do you try to be conscious to never say things like that to anyone?