"Sleep" state connections are most often created by code that maintains persistent connections to the database.
This could include either connection pools created by application frameworks, or client-side database administration tools.
As mentioned above in the comments, there is really no reason to worry about these connections... unless of course you have no idea where the connection is coming from.
(CAVEAT: If you had a long list of these kinds of connections, there might be a danger of running out of simultaneous connections.)