This is pretty relaxed looking, you're defiantly showing more involvement from your last ones. I like the laid backed approach you put into these. It's refreshing to view stuff like this, because I tend to take it you enjoy to draw. 
I'm leaning towards the right one as my favorite here as well. Mostly because of that girl's impression in her face the one that's leaning on the others lap, it just has a interesting look. Drawing figures interacting with something well, requires a good deal of effort to be done it's good to see you tried it. I see you ran into a few mishaps with stretching and such.
Hmm, I tend to see alot of people that don't draw the thumbs quite right on hands and it's really not hard when you take more consideration to it. I suggest if you want to get hands looking better the trick is getting the initial partial curve going to the thumb just right as it starts from the wrist. This is really what makes it look like a defined hand even before you get into doing fingers. This varies and shows depending on the hands position.
I think to help you further yourself along really, you need to understand that the body changes very differently to perspective and situations. You do not want to come to a solid concept that a certain part always looks a defined way which you may know how to do well in a specific situation. Hmm, try to hold your hand out some in front of you and look at it as you turn it etc. I think this is the simplest way to grasp some of this lightly without overwhelming you at start.
I think that will help you hit the cool poise and poses maybe if that's what your looking to do.