Sex after 9 months prego!

Me and my husband have been having sex a lot lately not to help anything with birth just because we've never really let me being pregnant stop us from having a good sex life. He always cums inside of me too I might add. Is this safe to be doing after 36 weeks pregnant? I haven't had my pelvic exam appoinment yet so idk if I'm dilated yet or what but does semen actually help to soften the cervix? Here lately after he finishes inside I get sharp pains in my pelvic area and cramping in the same area..