Well, it could be that the couple lives in a big old house. The 'erotic maid' part could be more about the allure of the old - fashioned maid uniform in a very innocent way. The wife dresses up as a maid for a special occasion at home. They then have a night filled with dancing, reminiscing about old movies where maids were often a part of glamorous scenes, and they strengthen their bond through this unique role - play.
One possible plot could be that a couple decides to role - play as master and maid for a fun evening. The maid (played by one of them) pretends to be a clumsy but endearing servant, and there are comical situations like spilling drinks while serving the 'master'. They use this role - play to add some spice and novelty to their relationship, sharing laughter and affectionate moments.
Perhaps in the story, the couple hires an actual maid for a short period. The maid's presence makes them realize how much they take each other for granted. They then start to have secret conversations about how to be more romantic towards each other, inspired by the maid's efficient and sometimes alluring way of doing things. Eventually, they end up having a more passionate relationship themselves, without any inappropriate behavior towards the maid.