A word to describe the opposite of distant people?

What's an accurate adjective or word to describe people who are not necessarily friendly, approachable or agreeable, but they come across as very genuine, cheerful and energetic, and that even though they might be important people, they give you the feeling that they care about you and they are "one of us".

Basically the opposite of distant high-level executives who are completely out of touch and inspire neither confidence nor respect.

How about affable?

Dictionary.com:

pleasantly easy to approach and to talk to; friendly; cordial; warmly polite

Or amiable (synonym of affable)?

Dictionary.com:

having or showing pleasant, good-natured personal qualities; affable

Perhaps down-to-earth ?

: informal and easy to talk to
: practical and sensible
(from m-w.com)

The list of antonyms on m-w.com in particular seems to clearly oppose your "out-of-touch executive" type.