What can he/we do for me when I’m on my period? (Pads, no tampons/cups)

My boyfriend and I both have high sex drives and we’ve made amazing strides in our sex life. It feels however like whenever I’m on my period it turns into just me getting him off (and I love doing that don’t get me wrong), but I feel neglected and still horny for him after. I think he maybe doesn’t know how to help me when I’m on my period but I also don’t really know how to help him help me. We’ll lay down a towel and properly make love if I’m spotting, but I bleed heavy when I’m actually on my period and neither of us like the mess. I use pads 100% of the time and I do not feel comfortable using tampons or cups or any other insertables. We’ve done me grinding against him with me in my underwear with pad but it’s not the best.

Are we being prudish about the blood or are there some things we can play with to help us both during my time of the month?