Sounds pretty normal to me. If he doesn't initiate then go into attack mode and initiate yourself. As long as your doc says its ok you can have sex up until you pop!
Why don't you try initiating sex? Most men find that really arousing. My hubby loves it. But he also initiates it too. It makes things fun and he seems to be even more in tune with trying to please me because he feels wanted. It has to be a mutual thing. You can't just expect him to do it all the time. Sex is fine during pregnancy unless your doctor tells you not to because of a certain condition.
If the doctor is ok with it then everything is good to go. Have a talk with your hubby about it. He might be scared he will hurt you or you can just attack him. Lol