You still love him, that's an established fact.
In order to decide what you need to do, if anything, you must answer more questions. Did you fall out of love with him or were you ever in love with him in the first place? Can you be happy with things as they are or do you want/need the option of finding another man?
Sixteen years together is a long time, but nine years with no sex or intimacy does not make for a healthy relationship.
You also need to know if he still loves you and if he's in love with you.
If you can remain friends, you can divide things and work out arrangements for your animals. What you have is more complacency than normality.
Ultimately, this is a decision to be made together as it affects both of you. Left as it is, unhappiness can turn into resentment.
My 2 cents from someone who's been there and done that.