The rationale for avoiding soft cheese while pregnant is that there is a risk of contamination from listeria.
Listeria can be very harmful to unborn babies. This is why you should wash all fruit and veg and cook meat and eggs thoroughly while you are pregnant.
That being said every piece of cheese you eat is not going to be contaminated! In fact the risk is probably very low. Usually any dairy product found to have listeria contamination is promptly recalled and removed from supermarket shelves. It is not like you have been unknowingly consuming lots of listeria all this time. It is unlikely you have consumed any contaminated food so far. Just avoid cheese that does not state it has been pastuerised on the label from now on to put your mind at ease