The most exquisite sex - for me, anyway - is spontaneous; it just happens. It's the same with masturbation. It's not planned out; no time is set for it. It's savored, not hurried in any way.
You're simply lying around and a hand lazily wanders to the crotch, your cock responds, and sometimes - before you even realize it - you're slowly stroking away and relishing the pleasure.
Explore yourself. Savor the sensations, revel in them. You might be surprised by how much more you've enjoyed the experience.