Yep, I understand this method very well. I find sex much more pleasurable without a condom. My partner can't take female birth control for various reasons. She also finds sex less pleasurable for her when I wear a condom. So, what this couple are doing is what we do too - some minutes of skin to skin pleasure and then Marco, when he realises he is getting closer to his orgasm, knows its time to put a condom on. As men, I think we all know when we are getting closer to climax. But then I am 40 and know my body well.
Have been with my partner for 8 years and we've not had an unplanned pregnancy with this approach.