sperm while pregnant..

Lately when my husband and I do have sex I make him pull out because I heard that sperm can loosen up the cervix and make you go into labor. I'm currently 29 weeks and sick of cleaning myself off afterwords lol. But I've also heard that it's fine if he does finish in me. I'm not sure which one to believe. I forgot to ask my doctor about it when I was there last. I'm a ftm. I don't want to go into labor early.