First off, if you both 'snore terribly' have you (both) seen a GP for a referral for a sleep study for sleep apnoea? My DH sounded like a jumbo jet on takeoff, but after his diagnosis and Rx for a CPAP, the snoring has stopped. He also says it improved the quality of his sleep massively and he no longer wakes up tired. And I get a good night's sleep in our bed. It will change your (and his) life.
This thing of 'who gets the bed and when' is sort of petty, but honestly having lived with a snorer for 20 years before his CPAP, I can understand the need for separate sleeping areas. But if you have to negotiate 'changes to routine' or 'special requests' this needs to be done calmly during the daytime, not right before bed, and NOT during an argument. You both need to propose what you feel is 'fair' then negotiate from there. I think I'd be more 'the one making a special request forfeits their night' rather than having the routine be 'reset' every time someone wants TV time or an extra night in the bed due to illness or whatever.
As far as this particular argument goes, sounds as if you didn't know when to leave it. When he got up to fix your baby's milk you followed him and continued the argument. Then, when you were both still arguing, you started criticizing the way he was fixing your baby's bottle. This added petrol to his already smouldering flame. His splashing the milk was stupid, but you were in no danger. One of the main things any good counselor will tell you is when your partner walks away during an argument, let them. Never follow. It gives both of you space to decompress and then hopefully you can continue the discussion calmly.
His swearing, name calling, and the MH comment, especially if made in the presence of your children, are a separate issue that HE needs to address. And if he values his marriage he will address them. If he refuses or 'doesn't see the need' that's a whole other issue and a decision for you to make as far as whether or not you want to continue the marriage.