Wow, a lot of responses since my last post - thank you.
I can't answer individually, but will try to give some general answers.
At the moment, learning to drive isn't an option for me, I/We just don't have the money. And there isn't anyone who can teach me privately. Or rather, there isn't anyone who has time to teach me privately
Plus, I can't afford the insurance.
Not sure how I'm 'needy', as I'm asking how to change my feelings, not complaining about my husband not being with me 24/7 
DH does events throughout the year, ranging from 40 miles to 90 miles. He goes out on his own during the week, and with a mate on a Sunday. If he goes out on a Saturday, it's usually on his own.
I joined a local bookclub at the beginning of the year. They've met twice, and I've not been able to attend either meetup! Hopefully I'll be free for the one at the end of this month.
I married him because cycling doesn't define him. He is a wonderful, kind, thoughtful, generous man who happens to love cycling. I love reading, which he hates, but he still married me.
He does spend a fair bit of time looking at bikes and bike parts on ebay, yes! But that doesn't bother me at all.
I don't think childcare for my DS should be taken into the equation by the way. Yes, my DH married me knowing that I have a child, and by doing so he agreed to be partially responsible for him. However, I don't think it's right for me to expect DH to take on all the responsibilities as though he were DS's biological dad.
I agree that 'family time' is time spent as a family. Yesterday DS was playing on the PC, I was reading, and DH was watching something on his phone. We were all in the same room, and we were conversing. I count that as family time.
Anyway, an update on the situation. He will now be using his turbo trainer on a Wed evening, instead of being out on his bike all evening. So he'll still be 'cycling', but he'll be home, which makes a difference, somehow. Also, he'll not generally go out on a Sat now whilst he's got an arrangement on a Sunday. These are all suggestions made by him by the way - I didn't complain or have a chat with him.
We've just had a lovely weekend actually. He didn't go out on Saturday morning, so we had breakfast together, spent some time pottering around and all of us went into town for a bit. Sunday he was home by 11.30am, we did some housework together and had a really nice afternoon and evening (that sounds very boak-worthily sweet, sorry!).
This weekend coming, I have something I want to go to on Saturday morning, and there is a family thing on the Sunday morning. So he'll go out early on Sat, be home by 9 and then drop me off and look after DS whilst I'm out. On Sunday he'll do the same, and then we'll all meet up with my family at 10ish for a late breakfast. That works for me!