Gosh, there are so many posts on MN along the lines of "DH cannot see that the housework needs doing" line ... it's such a common problem, so take heart that you're not alone.
I think we're all agreed that, very often, men can NOT be proactive with regard to housework, and they need someone to tell them, politely and gently, what needs doing. Could you try this, OP? Perhaps using a list/spreadsheet if necessary? (Works a treat in our house, after a very stroppy start!).
Re. saying that you wished he had a job: I don't see how that is unreasonable. Yes, you DH has lost his job, which is awful for both of you, and yes, he is suffering from the predictable self-esteem issues as a result, but you were tired and preggers and you just blurted out the first thing on your mind. Of course you wish he had a job!
You do need to have a chat about this, and work out who is going to be in charge of household chores, childcare / drop-offs / pick-ups etc while he's not working and you're pregant, and beyond, if necessary. How do you think you could go about broaching the subject with him?
Like it or not, rightly or wrongly, he IS suffering from massive self-esteem issues, so "I'd do my own stuff just for me and your DD and stuff him, literally. I wouldn't do jack shit for him - laundry, food, nada" as per expatinscotland's post, whilst tempting, is not going to make the sitation any better, and would be downright cruel. You need to use your powers of organisation, persuasiveness and cunning to make him see things your way.
If that fails, then you can try expat's way. But try the softly softly approach first, even if it does choke you! Male pride and all that
Is there any way that you can get some time to yourself? Any relatives who can take the kids off your hands for a bit in the evenings/weekend so you can relax, or - dare I say it - can you get a day or two off work?
Congratulations on your pregnancy, and I hope things get easier for you soon.