Music has this way of "startling", of surprising us, it can use poetic licence and convoluted grammar ways, even because the listener certainly don´t care about grammar at the moment he is listening to it. It´s all about emotion, not grammar.
But back to the crux. "I heard you good with them soft lips" reworded would be something like "I heard you are good with them, sof lips".
"Than with your arms around me" certainly it means "other than with your around me" (there is, 'if not" with your arms...)
As you see, lyrics has also this peculiarity of leaving "gaps" where we have to fill up.https://www.vagalume.com.br/rihanna/wha ... ducao.html