It could be difficult to do that, given that in his opinion he "does loads" and you "bully" him. Does he ever admit to getting things wrong?
Do you have a plan to help bring about change? Remember the only person you can change is yourself. So here's my suggestions:
Refuse to believe you are the problem here. You've said you've started to do that already, but the challenge is not giving any thought to it when he claims it's your fault for x, y or z.
Carve out some time for yourself. Next time he suggests you and the DC go to a non-child-friendly work event, tell him you're not interested but he can take the DCs. Use the time to do something you enjoy.
Stop doing any job in the house that is solely for his benefit, if there are any. Ironing his shirts, cleaning his muddy shoes, putting his things away (have a box for them all instead). Keep on doing the things he benefits from that are also for the family (dishwasher, laundry, for example), because I'm not suggesting some sort of protest action but management of your time and energy so that you have some downtime. He might also step up and do the jobs himself, but you can't control him, so that's his choice.
When he accuses you of being a bully, or condescending, or managing him, have a phrase to hand to say to him. Something like: "you are using words to shut me up." Don't engage if he turns out into blaming you: walk away and try again later.