We do not lose urges. We manage and control them. We also wear clothes, eat food, drink water, go relieve ourselves in the “water closet”, listen to music, garden, exercise, laugh, joke, attend entertainments, and carry on a number of close and intimate friendships. Having sex is one part of life.
I don't want to steal Fr. Angel's thunder. Go read the rest of his answer at his blog.
People do manage their urges, and when people are happy, they don't mind doing so.
It's people who are unhappy who don't manage their urges. It becomes a kind of self-medication.