Definitely understand the thought with condoms. In my younger years I was deathly afraid of getting girls pregnant. I didn't care what they said about being on the pill, I put on a rubber. I developed a steady hook-up with an older married gal, she assured me she wouldn't get pregnant so we did it bare. That deal was weekly for over a year. Different gal, married and pregnant, did her from about 3 months till her belly was huge, no rubbers.
Wife and I are mid 50s, she can't get pregnant, we see a guy pretty regularly, always bare.
The sperm mess is part of the fun.