That may have been true decades ago, but is no longer the case. Of course nothing is risk-free, but current drugs can get HIV viral loads down to undetectable levels, and if your drug treatment is successful, it's considered reasonably safe for you to swap fluids with others (with their knowledge of your medical history, and consent, of course), as well as become pregnant. Sexual partners should be on PrEP too, to further reduce the risk.
This isn't "living a normal life" completely, and the retrovirals have side effects and the regimen needs to be maintained, but the state of things for people with HIV is so much better than it was back in the 90s.