I don't really have a motto per se, but examinations of my speech patterns would show the above to be at the top of the list. I developed the above litany a couple of years ago when my housemate moved in.
I simply don't like to wear pants at home. (Yes, even with a housemate.) Pants are only something to be worn when I am at NOT-home. If I'm lounging around at home, I'm usually in my bed, and no one wants to wear pants in bed, do they?!?
I even have what I call "my Mr. Rogers chair" placed near the front door of my apartment. This allows me to take off the coat and then hang it up; take off the shoes and socks to store them under the chair; and take off my pants. It's a natural progression, I'm sure you'll agree.
Pantslessness can have its own problems though... What if there's a fire? Also, how does one get motivated when getting out of the house involves putting pants back on? I'll admit to bailing from attending a non-zero number of house parties because I couldn't broach the pants-event-horizon.
I do also like to break my own rule sometimes, though somewhat strategically. If we do end up meeting, ask me to tell you about the little 'game' I play with the TSA.