You're so comfortable together that you might not see the need to motivate yourselves to action -- but don't fall into that trap! You have a lot to learn from each other, but it shouldn't be passive learning. It doesn't happen through osmosis; you have to reach out and grab hold -- and draw from each other's experiences.
There is a lot to draw from. Just in the person that you naturally are and the way you naturally meet the world, you inspire your lover to be themselves -- their best self. The way that you approach the world is a great lesson for them, because it teaches them that they're okay -- better than okay. If they've had their self-confidence or self-esteem dented in the past by relationships with people who made them feel as if they weren't good enough, this relationship could help to counter those old, negative feelings, and to build their self-esteem again.