No, they cannot come out at the same time. Pee is another word for urine. Semen is the fluid that contains sperm. Semen can only come out when the penis is hard. When the penis is hard, urine cannot pass through the urethra, which is the opening at the tip of the penis. So no, while sperm and urine both pass through the urethra, they can’t come out at the same time.