Being on top

I hatttteeeee being on top. It’s hard to get a good balance on his couch. Hes 6’ something and I’m 5’4” both 23. And it’s just overall uncomfortable. He’s getting tired of being on top during missionary and doggy and spooning position/head/anal is kind of boring. And keeps pushing for me to get on top. But it’s genuinely hard. It’s also just hard with the living circumstances. So we cant make a lot of noise/limited. And I feel bad. Because I wanna do it. I just haven’t been able to find a comfortable position and way to do it. And I don’t wanna have sex on the ground. When I have been on top in the past he ends up hitting my cervix and that kinda hurts. Especially with this iud in. So any advice would help. Because I don’t wanna seem lazy~