Sex while pregnant (33 weeks)

I have been so freaking horny during my third trimester and we really slowed down the sex. I do get nervous having sex because I know it can cause labor or something. Do you think it’s safe to have sex right now this late in to pregnancy but I’m not quite ready to give birth?

I don’t really want to do other things as I just really want sex with my husband. But I’m also scared to hurt the baby, my belly is huge and I don’t want to go into early labor. Also, we won’t be able to have sex for a while after I give birth and I am dying to be touched lol