Amy has he always been this way? Has he specifically said that his libido decreased as a result of taking the meds? Perhaps there are other issues that you’re not aware of that he’s not willing to discuss at this point and it’s easier to blame the meds.
I do know that when one partner is having issues (usually the woman) therapists suggest that there is intimacy without sex period. Even if there is arousal, the partner with issues needs to know that the contact is enough, that there will be no pressure to go further. His response “lets just get it over with” says to me that the reason he’s been avoiding the cuddling and physical contact (previous threads) is because you push it to the next level.
If you’re going to have a healthy relationship you need to get to the root of the problem rather than trying to address the symptoms.