I tend to squirt during sex rather than at orgasm, but reports here suggest squirting urine at orgasm is very common.
If you can, then try taking a very short pause during sex to have a pee, then if/when you do squirt it should be less. (I usually dash to the bathroom, stand by the bath as my penis is obviously pointing the wrong way to pee in the WC and let it flow, then dash back to the bedroom - I don't hang around to clean the bath either but do that afterwards!)
I also have a waterproof sheet on my side of our bed to protect the mattress anyway, so we always make sure we are on my side of the bed to have sex.
Another very simple option is to get carried away in the shower, either with the water on or not, but warm water splashing on both of you disguises any squirting or it makes it very easy to clean up.
Also note that fresh urine is sterile. If your partner gets some inside her it is not going to be a problem.
Yes a condom is an option, but you no longer need to use condoms that are for a contraceptive function, so remember there are not just regular ones but there are also ones that don't have lubricant etc, or smell of it, and also ones that smell of (or taste like!) strawberries, oranges, mint etc.
And when it comes to what you or your partner may or may not be comfortable with or happy about, then maybe there is something to be gained from making sure you are comfortable peeing in each other's presence anyway.
But don't let this be a reason to stop having sex or trying to have sex though.
Born Jun ‘60
Apr 09 PSA 8.6
Biop 2 of 12 pos
29 Jul 09 DaVinci AVL-NKI Amsterdam
6 Aug 09 Cath out
PostOp Gleason 3+4 Bladder neck & Left SVI -T3b
No perin’l No vasc invasion Clear margins
Dry at night
21 Sep 09 No pads daytime
17 Nov 09 PSA 0.1
17 Mar 10 PSA 0.4 sent to RT
13 Apr CT
66Gy 28 Apr to 11 Jun 10
Tired + weird BMs
14 Sep 10 PSA <0.1
12 Jan 11 PSA <0.1