just be mindful of your noodling to give it some significance. When playing the same old chord progression you've always played, drop the pinky somewhere for a beat and see how it sounds. If you find something you like, you can remember it for future reference or even look up the chord you created with some online chord finder so that you'll know what it is you've formed. I don't really have any advice on noodling while picking because I find that impossible personally. I play scales so much that it is quite beyond my ability to just throw some notes together; I always know what I'm doing. I do improvise all the time but I am always at least somewhat conscious of what key I'm in or what scale I'm playing. But give the chord noodling a try
I'll preface this with a giant "I'm NFG", I just play to amuse myself.
But, what Ripock said is similar to what I do. I'll noodle all around different scales (but, I generally DON'T know what key I'm in... just how to play the "shape" of the scale that I'm playing to stay in a key). And I'll noodle different chord progressions that I've either found, or discovered. Simple ones, like any random I-IV-V progression, or a good 4-chord progression. Then, as I get good at transitioning through that progression, I'll "jazz up" each of those chords either randomly hunting for something that sounds good, or actually looking up variations of the chords.
For example, I like to play C-Am-F-G7. No idea where I picked that up, might have just lucked into it. It's surely very common, it sounds good.
But, I got bored with it. So, I jazzed it up to:
C & Csus4 (adding a finger on the first fret of the E)
Am & Am7no5 (adding a finger on the third fret of the E)
F & F7no5 (adding a finger on the third fret of the C)
G7 & G7sus4 (adding a finger on the 3rd fret of the A)
So, I'll roll through a couple bars of each of the main chords, then start mixing in the alternate chords with different strumming patterns. And what was a fairly simple and boring chord progression becomes a pretty fun little jam that sounds way more complex than it actually is. It's a really easy one to play if you finger it right, the moves are very fluid.
Nothing wrong with a little noodling. That's how a lot of songs begin. Noodling begets a riff. A riff begets a chord progression. And so on.