OP, it sounds like you have a pretty good understanding of your own flaws, as well as your husband's, and you also understand his good points. I think that's a very good starting point for therapy. Maybe you could look at it as preventive maintenance? Get some help before things reach a much worse point? Also, it sounds like your kids are really little, so no wonder you are overwhelmed!
A couple things:
I just feel that it is all on me to plan, decide, and worry about.
I totally hear you. It sucks to be the person IN CHARGE all the time, even when you are getting help. Speaking of...
Now I feel a little bad because we do in fact have a cleaning service every other week...
Don't feel bad! That's great.