Your last sentence...
about laughing and joking around is quite relevant!! It looks to me that you feel under pressure to have sex as soon as you're together, whereas, when you happen to spend some time around each other, to relax together, to laugh (laughing is a great aphrodisiac!) you must feel that you're connecting to your man emotionnally and that helps you enjoying sex.
It's easy, you both got to work more on the "preliminaries", not just jump in and "do it" Try to spend some more time together without thinking of if you're going to end up in bed or not...and as far as him helping around, this is the first step: DO THE CHORES TOGETHER!!! 
Honest, nothing like washing up/drying together and chat about your days, or make the bed together, to relax around each other after a long day at work and away from each other.
Max.
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