You know the whole “sucking your thumb in your sleep” thing? Yeah, I think Telemachus does that. But instead of his own thumb it’s Antinous’. And instead of a thumb it’s literally any part of Anti’s body. And he’s not sucking, he gnawing (lightly) in his sleep. So maybe it’s not like sucking your thumb. Maybe Telemachus just needs to softly chew on Antinous’ skin absentmindedly to get a good night’s sleep. And who are we to judge him?