Is there is a way for me to ask a judge if he can have only phone calls and maybe holiday visits?

My husband contacted me recently asking if there is a way to just have communication with them. I would like to go to court to request that. He's not allowed to have any contact with them. He hasn't but it's been 3 years. The kids are getting older and still in therapy because they miss their dad. We leave far from each other. I don't want him to see my kids often just holidays and some phone calls.