I've slept in a sensory deprivation tank several times. It's pretty trippy...you spend a lot more time in REM state and your dreams dance the line between dreams and hallucinations as a result.
I'd always wondered what it would be like to sleep in a gravity a fraction of that of Earth's - whether or not it would be more or less comfortable. Sounds like it actually would be more comfortable, had the astronauts had accomodations more equivalent to those on Earth.
Not quite; while the net downward force on your body is indeed less underwater, the pressure on all sides is greater. In particular, if you are at rest, the force pressing on your underside is equal to your weight plus the weight of the column of water pressing down upon you. (This force is indeed what keeps you afloat!)
The experience reported by these astronauts is that of the pressure underneath them being less. I can think of no way to simulate this on earth, save napping in near-freefall (e.g. while parachuting, or while on the Vomit Comet). This does not strike me as a sound idea.