The rapid growth in the number of Internet of Things (IoT) systems and their increasing use in safety-critical domains has led to the need for an evolution of development methods. Model-Driven Development (MDD) approaches have been used in software engineering to reduce development time and minimize errors in implemented systems. This paper introduces a novel Model-Driven Development (MDD) approach for Internet of Things (IoT) systems which considers interactivity from the perspective of both users and IoT components. A real-world example is presented to explain the motivation for the work and demonstrate the benefits and use of lightweight interactive system models adapted for the design and development of IoT systems.