I don't have the level of intimacy with my husband I would like

Well, you could try showing him an illustrated copy of the Kama Sutra. There once was a time, in India, when sex was much more highly regarded.

But, if he is religious and seriously believes that sex is only for "making babies," then you have quite a battle on your hands. The root of the problem lies in the religion itself. And, the only way to deal with it--in the long term--is to deal with the root cause. You need to challenge the religious ideas, which inevitably means challenging the religion itself, which is no easy task.

It might not be necessary to turn him into a complete non-believer (e.g., an atheist, in the case of god-centric religions). There are plenty of semi-religious folks who enjoy good sex. But, those who have fundamentalistic religious beliefs, who try to remain consistent with religious ideas, inevitably have difficulties with sex.