It may be confusing, so to clarify: "seminal fluids" is a term typically used to refer to the fluid released during ejaculation, not throughout the arousal phase. The idea that sperm would be in the mix before the emission phase goes against standard reproductive physiology.
Sperm are only actively introduced into seminal fluid during the emission phase of ejaculation; the so-called "grand finale." :D. Before that, in the arousal phase, the fluids released (like pre-ejaculate) typically contain no sperm unless there's residual contamination from a previous ejaculation.
(And FWIW, if one might wonder: thankfully this aforementioned "residual contamination" poses no health risk or birth defects.)
If you recognize emission — not just when expulsion is imminent — and if you pull out and that's the end of vaginal intercourse until you've cleared the urethra again, then that's probably nearly perfect at preventing pregnancy.