You have stated that you feel vulnerable, childish, embarrassed, anxious, lacking in self-esteem, needing to rely on your husband for ‘feeling safe’. You are also putting too much faith in your husband's ‘goodness’, and you minimise the difficulty of ‘walking away’ if he stopped being ‘a good man’.
There is clearly a lot going on - stuff that is rooted in your childhood and your previous abusive marriage. It’s good that you are in therapy as it indicates that you are aware that your current marital setup is not meeting your needs. Moreover, therapy will hopefully help you process everything that has happened to you and gain insight into how you can take charge of your life and, in the best sense of the word, grow up.
You are an intelligent woman and will get there in the end. However, I put it to you that you will get there much sooner, and with more positive rather than negative impetus, if you start being proactive and start advocating for yourself and focusing on your best interests- instead of relying on your husband and hoping that he will keep you safe.
Relying entirely on someone other than yourself is both unhealthy and potentially dangerous. So many women who believe that ‘he would never do that’ end up in deep shit because…… he did exactly that. Look after yourself and your children above anything else, always.