Here’s how I’d tell the difference.
If he’s doing things that are work for him and not for you, he’s probably being helpful. If it’s no work for him and work / hassle for you, it’s probably controlling.
If he’s worried about you eating, so fills the fridge and freezer before he goes with healthy meals that you love - that’s helpful.
If he insists that you go out and buy and cook food that he has decided on - that’s controlling.
If he arranges and pays for a dog walker to care for DDog when you are too unwell = helpful. Nagging you to walk DD when he’s gone away and is shirking his own responsibilities = controlling.
Staying home to care for DDog because you are too unwell ( or because it’s his dog ) = appropriate .
Wanting to know what you are watching = controlling . I can’t think of any legit reasons to control another adults viewing.
Telling you who you can confide in about your own business = controlling.
Asking you not to tell other people his business = perfectly legit.
Telling you how much you can exercise = controlling.
Discussing the issues of potential over exercise , as agreed with a doctor or professional coach = legit.