Your boyfriend's interest in having sex with you in this fashion is a result of one of two things. Both of which will require a response from you in some capacity. Let me explain:
 
Thing One: A primal lust factor. He is so hot and heavy for you, he is blinded by his hornys and needs access to your vagina pronto. Sort of like in the movies, when a couple just starts making out in the middle of a torrential rain storm, or against a crowded club wall, or can barely take time to kick their shoes off before sex.  Your man is overwhelmed by you and compelled to just "go at it". He may be doing this to heighten the tension and sexual temperature of the moment - for both of you. How bad do I want you? So bad that I must get to your vagina ASAP.
 
Thing Two: Your theory that he's not sexually excited about your naked body. This isn't a fun one to think about, but if what you're telling me is truth - that 90% of the time you are clothed when you have sex - it's worth investigating. I'd hate to think he is using your clothes as a shield from your skin, just as it would be rotten for you to wrap your man in a mummy costume prior to sex and cut a whole in the crotch for his penis. We'd like to think our partner is having sex with all of us, not just the actual sex organ.
 
If it's thing one:
 
You need to  talk about it. You need to ask him why he is driven to have sex with you in this way so very often. See what he says, and if he is vague or gets nervous read between those lines. Is he attracted to you throughout the day? Do you guys have a kissy, holdy relationship in general?
 
If it is thing One, tell him, that you'd like to weigh in on how you guys have sex too. After all you are not a vessel for him to have sex with, remember? You're there to have sex and set the tone too. It's a partnership.
 
If it's thing two: This is not a sexual relationship you want to be in. Props, make-up, mini skirts, a pair of heels, blindfolds, etc can add to a moment or person's sexiness, but should not be the on going main attraction. If he can't get it hot and heavy with a horny, naked you, then you need to leave him and let him f*ck your clothing on his own time.