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Introduction: This research focuses on the barriers and supports that influence the development of affective-sexual relationships as perceived by a group of people with intellectual disabilities. Method: 14 adults with intellectual disabilities participated in the study, and focus groups were conducted over 4 sessions. These were recorded and transcribed. The results were grouped into 7 themes: policy, professionals and services, families, friends, partners, the disabled people themselves and society. Results: Participants criticise the lack of knowledge about disability policy; they emphasise that they do not receive enough support from professionals, while describing the rules of support services as limiting; families are perceived as conditioners of sexuality; they highlight the difficulty of forming friendships and denounce society's prejudices, among others. Discussion: In recent years there has been a paradigm shift towards recognising the right of people with intellectual disabilities to have intimate relationships, but they continue to face denial of their "intimate citizenship". Analyses and changes in different areas of people's lives are proposed in favour of greater respect for Convention on the Rights of Persons with Disabilities (CRPD), especially in relation to sexuality. [ABSTRACT FROM AUTHOR]