Has there ever been official pornographic media for an anime and/or manga series?
To answer the question as posed:  largely, no.  A work will make its intentions clear up front.

An anime or manga creator typically shies away from playing both sides, and will either commit to having their work be either tame or explicit.  That is to say, on one side, you'll have a work which is largely non-sexual and then has a few fanservice scenes (for example, The Electric Tale of Pikachu), or work which is largely dedicated to pornography (examples omitted, for...reasons.)

To call some attention to a point made here:


  I wouldn't be surprised if some companies already tried to squeeze some extra bucks from the more fanatic and perverted parts of the fanbase, while those uninterested in the content never have to see it if they don't want to.


Dakimakura, and some of the designs you get with them, largely fill this void, even if the work is non-pornographic (as is the example prior with KonoSuba and Oregairu).  The same is true of other fan-oriented goods, like figurines in various poses and attire, and sales of certain articles of clothing.

(I think at one point, Sailor Moon had released a line of lingerie.  I neither judge nor ask questions.)

I do want to highlight though, that this is likely being driven largely by the companies and not necessarily the creator themselves.  I don't deny that some element of the creator's participation is necessary, though.