I'm on the pill and I've been with my boyfriend for almost 4 years. He almost always cums inside of me. We're both clean and have a trusting relationship, so we feel no need to use further protection.
To be honest, I don't really understand the point of pulling out when on the pill solely for the purpose of avoiding the slight chance of pregnancy. Pre-cum has more than enough sperm in it to cause pregnancy, so pulling out isn't exactly the most effective method.