if you think you're generally a contemptuous/inflexible/etc person, and it affects you in several areas of your life, then therapy might help you very much. you might be acting out weird scripts from your childhood that you'd do well to reexamine.
for example, you say you're self-conscious... perhaps that's something you can experiment with leaving behind after a bit of talk therapy, and see where that takes you in your relationships. it may very well be that there's "parent" voice in your head (i.e. an internal dialogue learned from your parent/s) that shames you into feeling embarrassed about yourself in general, but you're projecting that onto your DH because you don't want to feel that way about yourself.
but if your DH is the only person in your life who annoys you like this, and in all other situations you are very happy and feel like you're an effective human being, you might be looking at him being the problem, and not you. insofar as compatibility goes.
i do think you can soften to a person. but only if you recognise their good points and don't have contempt for the person... as long as there's contempt, you've got a big problem.
and contempt, when it's directed at someone quite normal and nice, generally has a root that can be found through therapy.
you don't have to stick with him if you don't want to though. it's OK to just want to leave... i understand the impulse to want to try different things first though. it's sad to leave someone behind. (but that doesn't mean you shouldn't do it iyswim)