No woman knows a good marital companionship –as that companionship means in the perfectness of a person- as she knew of the Prophet of Allah (peace be upon him), which is clear in the Quran in his attitude, sayings, and deeds.
The most things that specify the Prophet’s companionship with his wives were his good relationship, cheerfulness, joking with his family, laughing with his wives, mildness, and generosity.
Even when he was racing with Aishah (mother of the believers, may Allah be pleased with her) in the desert in one of his trips, it was to show love to her by that. She said that the Prophet of Allah (peace be upon him) raced me and I won, that was before I gained some weight. Then I raced him after that and he won. He said: “We are equal.” (Abu Dawud)
Also, the Prophet used to gather his wives every day in the house of the one he will spend the night with. He sometimes eats dinner with them then everyone leaves to her home. He used to sleep with his wife on the same sheets, take his rope off his shoulders and sleeps in his loincloth. After praying Isha (Night prayer, which is the last prayer of the day), he goes home and sits with his family a little before he goes to sleep.
Furthermore, the Prophet (peace be upon him) put the criterion of the best of men in the good treatment of men to their wives. He said: “The best one of you is the best to his family, and I am the best one of you to my family.” (At-Timidhi)
That is because artificiality and pretension of high moral standards becomes weak when the person feels that he has authority and power, and becomes weaker when he stays a long time with whom he has authority upon.
If the person keeps on his moral perfection in a society he has power upon and has continuous intimacy with, so this is the best person in morals.
If the Prophet (peace be upon him) is the best one for his family, so his companionship with them must be really perfect, in all what goodness means of moral perfection in behavior, love, justice, mercy, loyalty, and all what marital life demands in all conditions, situations and days as it was clarified in books of Sunnah and the Prophet’s biography books. This was indicated in the honourable Sunnah in many of the Prophet’s sayings regarding his behavior with his family and his treatment to them.
Regarding the Prophet’s love to his wives, Anas ibn Malik (may Allah be pleased with him) said, “The Prophet of Allah (peace be upon him) said: ‘The things that were rendered beloved to me in this life are; women, perfume, and my tranquility is in prayers.’” (Ahmad)
Amr ibn Al-Aas (may Allah be pleased with him) asked the Prophet: “O Prophet of Allah who is the person you love most?” The Prophet replied: ‘Aishah.’ Amr said: ‘And from men”’ The Prophet said: ‘Her father.’ Amr said ‘Then who?’ The Prophet said ‘Umar,’ and he named other men, so I kept silent fearing to be the last one.’” (At-Tirmidhi)
About the Prophet’s playing with his family, Aishah (may Allah be pleased with her) said, “I used to play with dolls at the house of the Prophet (peace be upon him) and my friends used to come and play with me and when he (peace be upon him) arrives, they leave, so he let them come in to play with me again.” (Al-Bukhari)
Aishah also, narrated: “The Prophet of Allah (peace be upon him) was standing at the door of my room covering me with his rope so I can watch the Abyssinians playing in the mosque”.
An example of his good companionship and the nobility of his morals, Aishah (may Allah be pleased with her) said: ‘When I drink while being menstruating, and then give the cup to the Prophet (peace be upon him), he used to put his mouth where I put mine to drink.’” (Muslim)
Source: Taken with modifications from the book entitled “Prophet as a Husband” by Rasoulallah.net.