Sure, it's normal to want to experience sex without a condom, just like it's normal to prefer or default to using them.
If you're thinking about unprotected sex, what you'd want to consider is the risk of pregnancy from that (even if you plan on going condom-less only briefly, there is still a risk) and the risk of STI transmission, as well. Are you using any other form of birth control, right now? Are you and your partner up to date on STI testing?