OP, I think we've all said unkind things out of frustration or when under pressure. You'd had a difficult day and felt unappreciated. I don't actually think it's that bad, and your dh doesn't seem particularly bothered by it. I think you should apologise or instigate a discussion only if you think there will be a cloud over your holiday otherwise.
But some of the replies you have had are horrible.
What was your dh doing while you were having a stressful day packing and looking after little children? He wasn't sitting on his arse was he, he was at work, maybe having a stressful day as well.
You used your maternity savings to pay for the holiday, so will you be eating gruel for the rest of your maternity leave, or will his wages be supporting the household?
You work hard and feel unappreciated and like he doesn't notice how hard you work or how much pressure you're under, but maybe he feels the same.
I hate the nasty divisive comments that pit you against each other or fan the flames. If you love each other, if you're usually a team, if you both work hard for the family and have similar amounts of down time, this is just a silly argument that can easily be put behind you so you can enjoy your well deserved holiday. He didn't retaliate, he didn't say anything horrible, so he doesn't sound all bad to me.