Intimacy and sex

Emily • Due with first baby June 26, 2016 💕💕. Married to the love of my life since 9/10/11 😍.
I'm 27 weeks pregnant with our first baby and my hubby and I are struggling with sex and intimacy right now. 
Please tell me that I'm not the only one that struggles with thinking that sex is the only type of intimacy??  I'm trying to retrain my brain to not think this way, to accept other gestures (such as cuddling on the couch watching tv) as being intimate, but when my husband has his arm rubbing my shoulder or back, I can't help but want him to be rubbing my neck or touching my butt.  If I try to turn him on he tells me to quit it (9/10 times).  Every night when we kiss good night he'll slip me some tongue and I can't help but groan and lean into him more, he just laughs a little and pulls away from me to go to sleep. 
2 weeks ago we had a talk about sex and intimacy. We both agreed that we would stop looking at porn and masturbating, something that I know I personally was doing to have my needs met, as I'm sure he was too. I'm convinced that he has just gotten better at hiding it. He's been asking about my work schedule more too, something he never really cared about knowing. 
Prior to pregnancy I had a much higher sex drive than him and this has been an ongoing issue for the past 4.5 years. Besides taking that step to seek martial counseling, I'm kind of at a loss as to how to feel connected to him again. He seems fine with it, says I'm pregnant with his little girl and that I need to relax, that he loves me and isn't going anywhere. I follow a ton of martial pages on Facebook and working on trying the tips. 
We're both very excited for our little girl to come in a few months, I just want to make sure that our marriage and our needs as husband and wife don't get lost and forgotten.