I think this is a naive view.

I didn't have a sense that my grandmother's generation (and all children prior to that) were perceived by their parents as unwelcome consequences of their unrestrained hornyness.

Old literature starting with the bible is full of examples of people lamenting infertility, they clearly wanted kids.

Also, today the only people who have children are the religious, which are also people that have objectively got the greatest control and ability to restrain their sexuality, which kind of goes against what you're saying.

And finally, people forever back had ways to not get pregnant if they didn't want to.