Inspired by what is admittedly a humorous image at first glance ( http://i0.wp.com/makezine.com/wp-content/uploads/2016/03/stock-photo-beautiful-woman-repair-soldering-a-printed-circuit-board-204001492.jpg ), I stopped and actually picked up my (cold) soldering iron this way and started placing it on SMD pads as if I was actually soldering them. I realized that for small work with a pen-type tool, the way the model is holding the iron in the above picture is actually a very intuitive and maneuverable method for holding tools and working on projects with small surface mount parts.
I will begin by exploring insulating materials that I could slide onto my iron to protect my hand at typical soldering temperatures.
Another small idea i want to explore is integrated solder fume extraction without inadvertently cooling the tip.
Have you tried using a micro-soldering pencil? I moved to one about 4 years ago, and never looked back! It places your fingers very close to the work, as close as in that ridiculous picture. Here's an example of one: http://www.tequipment.net/Weller/T0052921799/Soldering-Equipment/?Source=googleshopping&gclid=CK3ywq-Yjc0CFVFsfgodIb8AUA