Your answers suggest a relationship that’s basically working. You can talk things through, you feel connected, and the normal ups and downs aren’t tipping into something that’s grinding you down. That’s worth acknowledging – a lot of couples never stop to notice when things are going well.
On the honest question you came here to ask – do you need couples counselling? – the answer for now looks like probably not, at least not in the ‘we’re in trouble’ sense. What you’re describing sounds like the ordinary friction of two people sharing a life, not a relationship that’s stuck.
That said, plenty of couples use counselling when things are good rather than only when they’re hard – as a tune-up, a place to get even better at communicating, or to navigate a big change like a new baby or a move. There’s no need to wait for a crisis. But if things feel steady, it’s perfectly reasonable to simply keep doing what you’re doing – and if you ever want a hand with something specific, the option’s there.