Pap smear for HPV in third trimester safe?

Is it safe to get a Pap smear in the third trimester to test for HPV? I've never had a positive Pap smear (to my knowledge at least) but I always have this lingering fear that one day I might...even though I've been with my husband for a decade. I just wouldn't want to give birth with active HPV.

I had a negative pap in August of last year and got pregnant in November, but my doctor wouldn't do another pap because he said mine was performed just a few months before getting pregnant so that was fine.

Can anyone help ease my mind? Maybe I will see about getting a Pap before giving birth to be safe...