Ideally warm to the touch is warm enough to change plugs in aluminum heads. Just take your time removing the plugs and installing them to avoid crossthreading. Antiseize is typically not necessary with modern plugs, if you choose to use, use sparingly so as to not alter torque values. If you are re-installing the old plugs, definitely use antiseize.
http://ricksfreeautorepairadvice.com/anti-seize-spark-plug-threads/
http://ricksfreeautorepairadvice.com/anti-seize-spark-plug-threads/