Hug your people a second longer than feels normal. Seconds are all anyone gets.

Physical warmth between people is usually rationed by embarrassment rather than by feeling. The standard length of a hug is a social convention, not a measure of what anybody means, and holding on slightly longer says something that words tend to fumble. It registers with the other person even when neither of you mentions it.

Try it with the people you would not have to explain it to. One second is a very small risk. You will not remember the awkwardness and they may well remember the gesture.