I would have been okay with my kids using it like sucking something through a straw, sucking a lollipop, etc.
I would not have been okay with the usage ypu described. I prefer your husbands usage of "stinks" (which I see nothing wrong with) over your usage of "sucks". However, if you object to that word, you can forbid it as well and substitute a different phrase:
It's awful!
Yuck!
Bummer!
How dreadful!
On the other hand, I found this article that defends the term. It says any possible sexual connotations are obsolete. I'm old enough that I still make those connections, but apparently your children's generation won't.
https://slate.com/human-interest/2006/08/a-defense-of-the-word-sucks.html