He is a twat and YANBU. BUT, you are married to him and have kids with him so it's either kill him dead or manage him.
Next time, DO NOT GET UP. You are a rock, a stone, a fallen tree who could no more get up than you could leap in the air and fly. It is not happening until you've had a good 30 minutes alone in bed. The end.
When the children come in, tell him explicitly " I am having the lie in you promised me. Get up and take them downstairs for breakfast right now." Don't argue, don't get upset. Don't say or do anything that give him the excuse to strop. Just remind him what his job is in words of one syllable, roll over and leave him to it.
If he prevaricates, pretends to be asleep, says in a minute, and the kids start whining for food, STILL DO NOT GET UP. You are OFF DUTY. Set the kids on him. To every single thing they say "ask Daddy. Tell Daddy. Daddy will do it." Until eventually it will be more trouble for him not to get up than just to get up. Do not allow yourself to feel mum guilt if they get upset, want you, he's ignoring them etc. they will survive, they know you love them, they know they can count on you for their needs to be met, from the every other time you have showed up for them. Today it is HIS JOB. Do NOT let him wiggle out of it.
Basically he's not going to do the right thing because he loves you and knows it's the right thing to do. He's selfish. Doesn't mean he's a monster. Many many many men are selfish at core it's the way society raises them, to always put themselves and their needs front and centre. Whereas women are raised to always put themselves at the back of the queue in everything. We have to fight against our conditioning because they sure as shit aren't going to fight against theirs - why would they, it benefits them.
What men mean by love is very different in my experience to what women mean. I think probably most men are more likely to jump in front of a bus/axe-wielding maniac for their family than they are to ever put the work into those daily acts of service, consideration, care, all the thinking and worrying about others that make up a woman's existence. It's probably evolution. But it's also a fucking disappointment after growing up in films and books where the fictional men are thoughtful, tender, kind and romantic. Not the reality for the vast majority of men (and yes incoming 100 posters, I know your Nigel does everything round the house and brings you a cup of tea in bed and flowers every day, well done you, im not talking about him).