First time going limp 😩

Ma

Some background- I’m 34, hubby is 38 (almost 39). We have sex about 2-3 times a week. I’m totally satisfied and he comes every time too. We’ve been married for about 10 years, 3 kids. We use a condom and I’m not on the pill because every kind makes me feel awful. When I know I’m about to start my period or I just finished it we’ll go without. He is working on getting a vasectomy but we’re having some scheduling issues because of his travel. ANYWAY, he was talking about how he wants to make me come with his penis, not oral. So we tried it one night when he had a condom and he went limp with him inside me. He said he got in his head because I hadn’t come yet and he was trying to last and felt guilty and the condom didn’t help. Later that night I finished him off like normal. Should I be worried about this? Or does this seem typical?