the full sentence is,
pleasure rises in dependence on these five strings of sensuality. Pleasure is object of mind.Whatever pleasure or joy arises in dependence on these five strings of sensuality, that is sensual pleasure.
If you want to sit on a chair for to get an ease, that is unskillful quality of mind. If you sit and want to change the position to feel more comfortable, that's also unskillful.
Sensual pleasure is what arises in dependence on changing sitting position. And during that moment you are focusing on the manasikara.
the desire what arises is sensual desire, an affliction and that is perception of sensuality. What formerly were sensual pleasure now is sensual desire and has manasikara included.Now there is the case where a monk — quite withdrawn from sensuality, withdrawn from unskillful qualities — enters & remains in the first jhana
The rapture and pleasure rising from withdrawal doesn't have affliction nor demanding. You got to get that your object of mind by using discernment its done by being quite secluded from unskillful mental qualities.
Bit by bit getting aquintated to that dimension and acquiring confidence.
https://en.wikipedia.org/wiki/Ayatana
sixth sense include the other five. Its prolly you can't seclude yourself from sixth sense like you could with the 5 senses.Buddhism and other Indian epistemologies[8][9] identify six "senses" as opposed to the Western identification of five. In Buddhism, "mind" denotes an internal sense organ which interacts with sense objects that include sense impressions, feelings, perceptions and volition.[6][10]