Relationship advice

I've been with my boyfriend for nearly 5 years. I feel like we don't have a proper loving relationship. I got pregnant 3onths into the relationship. We stayed together but I wasn't fully in love with him at the time and I dont think he was either. 5 year later and 2 kids, we don't have the stone love bond that most have we really just see ourselves as roommates we bearly have sex maybe 3 times a month and it's not the hot sexy sex just a quicky that wasn't that good. I think we never had the time to actually fall in love and get to know each other as we never had the time for it as he works 5 days a week and I'm home all day with the kids and when we do see each other it's just a quick hi and we go do separate things I do love him and he loves me but not like I've bonded with you and can't be without you kind of love. We just tolerate each other but we want proper love that we will stay with each other till we die

What can I do to help my relationship