Sex while pregnant

I’m in my 3rd trimester and my husband & I haven’t had sex since I was in my 1st trimester. We are still a loving couple who kisses and cuddles but my husband has been very scared of hurting me during sex so we haven’t done it in a while. We tried today and it was so disappointing. I couldn’t get wet and I think the lack of sex made my vagina tighter and smaller and he couldn’t penetrate. I ended up crying for not being able to perform and i think it made both of us even more put off by having sex anytime soon. How can I improve? Will this get better after the baby is out?