There are many places on the wide spectrum for this--anything from swinging to polyamory/polyfidelity. It seems that you have found what is comfortable and what works for you, and while you may have some second thoughts because it may not be what society or convention says is "right," you must follow your own path. Best of luck to you.

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"Life is too short to wake up in the morning with regrets. So love the people who treat you right, forget about the ones who don't, and believe that everything happens for a reason. If you get a chance, take it. If it changes your life, then let it, and if you have to wait for what you really want, take the time because nobody said that life would be easy. They just promised it would be worth it." ~ Unknown author