Barry was beyond grateful that not only was Cisco here, but he was willing to let his friend crash until they could get his shelter built. Of course, if their situations were reversed, Barry would have done the same, that's just the way their friendship worked. He wasn't making use of his speed while he built the shelter, wanting to take his time to ensure it was stable and would last as long as he needed it to and he was glad to have Cisco's help.
Normally, they slept on opposite sides of the structure, so Barry was confused that he accidentally hit his friend while they were sleeping. Apparently he had a restless night and moved further than he usually did.
Except he realized that Cisco was flailing around and woke up enough to figure out they were somehow in an actual bed. Together. What the hell? "Uh..." Barry jumped up too and scrambled to find his shirt. "We were definitely not in a bed when we fell asleep, right?"