People didn’t really “choose” to have that many kids in the past. It turns out that even if you don’t really want to have kids, not having sex is a very, very hard thing to do.
Nature’s solution to making humans have kids despite being able to reason themselves out of it is to make them incredibly horny compared to most other animals. Or, put another way, the less horny humans were filtered out along the way since they didn’t produce enough offspring and were outcompeted by the more horny.