Sex on the pill


So I’ve been on birth control for a few years now and have been with my boyfriend for 2 years. We have been having protected sex with condoms but recently I’ve wanted to try without the condom but my boyfriend doesn’t trust birth control. Do you guys think we will be fine if we have sex without a condom? I take my pill every night at the same time and never miss a pill. He is just scared he won’t be able to pull out in time. I have friends who have sex without condoms and are on birth control and everything is fine, I am just a little nervous but wanted to try it. Any thoughts or opinions??