Spicing up life with ED

Hey all i need some advice on spicing up the sex with my Husband. He was diagnosed with ED and there are times that we could be fooling around and he gets a boner. When this happens we jumo at the opportunity to not use a pill. The other day we were talking and came to the realization that we need more spice in our sex lives. We both agreed it is way too planned. So any advice is appreciated.