I like your blue idea much much better than the gold/beige one. If you aren't afraid of bold color, a deep rich mocha would work with the yellow and the floors, but I'd add some red or a splash of orange for accent! Sometimes it's easier to choose a shower curtain or a piece of art that you like with the colors you have first and then choose a shade from one of those. Maybe something here will inspire you:
http://www.art.com/products/p11888711-sa-i1430486/jillian-david-agave.htm?sorig=cat&sorigid=23945&dimvals=0&ui=7aceea018000435981cf5dcdb920b2eb
(the teal shade in this painting would look great)
http://www.art.com/products/p12351562-sa-i1732015/brent-nelson-escalate.htm?sorig=cat&sorigid=23945&dimvals=0&ui=7aceea018000435981cf5dcdb920b2eb
http://www.art.com/products/p10122699-sa-i925074/tandi-venter-the-way-home.htm?sorig=cat&sorigid=23945&dimvals=0&ui=7aceea018000435981cf5dcdb920b2eb
http://www.art.com/products/p12549562-sa-i2790859/marthe-olivier-i.htm?sorig=cat&sorigid=23945&dimvals=0&ui=7aceea018000435981cf5dcdb920b2eb
http://www.etsy.com/view_listing.php?ref=cat1_gallery_10&listing_id=16472506
http://www.etsy.com/view_listing.php?ref=cat3_gallery_4&listing_id=18574251
http://www.homeaccentsandmorellc.com/S0878-CoolPaisley.htm
http://www.floorell.co.uk/pictures/mosaics/noceyellowunf.jpg
http://www.flickr.com/photos/ellenjo/427016995/
http://www.allposters.com/-sp/Sunflowers-Posters_i1683265_.htm