ginger's advice was not good. Offred was quite right to call it crap (and she didn't insult ginger on any personal level).
Counselling is for couples who want to compromise and see how they can work towards a way forward. It is not for a rapist to reassure himself that he didn't do anything wrong and that he can override a woman's 'no'.
Your kids may be too young to pick up on it now, but they will sense his abusiveness as they get older because there's no way a rapist isn't manifesting it in other ways too.
LonnyVonny is 100% correct. Everyone agrees that violent, sudden, stranger rape is rape. They agree on this because it pretty much never happens, so nobody's threatened by calling it what it is. Rape is much, much more commonly something like what you experienced, and frequently with a lovely dose of 'no, that wasn't rape dear, rape is something else entirely. That was just me having sex with you when you weren't that into it, your 'no' wasn't the same as that other non existent stranger rape victim's 'no'.'
But you want to think of your children, understandably so. For their sake, do not allow a rapist into your home and your bed. If you have sons then God knows what messages they'll get from that, if you have daughters then God help them.