Tantra, contrary to common mis-perception, is much more about sacred relationship than sensual or sexual pleasures for the sake of pleasure alone.
Much of Tantra, as it is understood these days, is just a justification for promiscuity.
Sexuality is sacred.
The Earth is sacred.
Relationship is sacred.
Your body is sacred.
All life is sacred.
Practicing the art of sacred sexuality through relationship is the essence of Tantra.