Have a real good talk of you have a mature husband. Me and my partner had to have a lot of talks and it was embarrassing but he didn’t make me feel bad about it
If he loves you then he'll care about your wellbeing and pleasure too. Definitely talk about it, it's not rude. Say you enjoy it more when there's foreplay, say you miss it. Men are too sensitive to hear that they're killing your libido, but yeah definitely tell him what you want, even if it's awkward at first it will get better.
I wouldn’t tell him I would just start doing it. If he does get the hint then I would say baby I miss the closeness we had before sex before the baby. He’s probably rushing because he wants to get off before the kid wakes up and ruins it.