He can't cum

Hey girls so my boyfriend and I have been together for just over 2 years. I'm on the pill and we were using condoms but he literally never finished. We tried different brands and positions but still...nope. 2 years later and we still have this issue. We stopped using condoms and now right before he cums, he pulls out and then does the the work himself if you know what I mean...I'm kinda disappointed though because there's just something satisfying about having him finish while he is in me.

What should we do?