I think telling her to fuck off and calling her a bitch is abusive. Doing it in front of their child is appalling.
Posters are focusing on the OP's behaviour as though it excuses DH's abuse. I thought we had moved past that? Some behaviours just aren't ok and nothing the other person has done makes it not-abuse.
I can't tell whether he threw milk at her or was gesticulating in frustration and it splashed on her. OP feels it was on purpose but I think if he wanted to cover OP in milk he wouldn't have done it. He was holding milk and you were right there.
OP, I don't think you are in any physical danger. Splashing milk isn't going to escalate into strangulation. That's not how it goes.
You have both been unreasonable and need to learn to argue better. I think you should go to couples a counseling and get advice. Things like:
Name calling
Following when someone has walked away from an argument
Criticising about small issues and losing sight of what the fight is about
Those aren't ok. You need to be able to argue better.
Being constantly criticised is another form of abuse, do you find yourself doing that with him?
The other thing about arguing with a spouse is that you can learn a lot about things they've kept hidden. Him bringing up your MH- is he impacted by your MH at the moment? Could you do more to manage it, maybe look at more treatments or medication?
You do seem to be catastrophising in your OP. It's not realistic to think he's going to kill you, that's a very extreme way to think.
There's a lot to unpack in your OP. definitely worth a few sessions with a relationship therapist.