Yes, bocks are comfy, you can forget you're wearing them after a while, if you're not doing anything too extreme... (well, you dont forget, you still get stares, lol)
I dont wear any extra padding between my leg and the knee-bar, except of course my trousers, and they're fine. The only bit that annoys me is the foot binding on the upper foot, as it occasionally cuts into the front of my leg. Thats mainly down to the nature of shoes i wear though...