Men in general, I've found, don't do well with multitasking. Actually, neither do women, but we feel forced to. So that might explain why he feels can only safely watch one child or one pot at a time.
The going for a nap without checking with you first is unacceptable, and that happened in my house as well. It wasn't just here and there, occasionally, though, it was ALL THE TIME. I would suggest nipping that in the bud, or he will assume he can do it whenever he wants, and the frequency will (based on my experience) escalate.
Mine came from both of us having lived in our own apartments and both of us having young nieces and nephews. In my case, he always claimed that he had vastly more experience with living independently and taking care of little ones, and would throw that in my face. Of course it wasn't true, as I am older than him. Any time I disagreed with his way of doing things with our kids, it was "I had little nieces and nephews; I know what I'm doing", as if uncle experience trumped my input.
He also knew well more than me (in his mind) everything there was to know about keeping an apartment, a car, a lawn, minor repairs, despite me having experience in all those areas. Drove me nuts. When I pointed out (because he would not read directions and did not want my help) that he had just installed the screen door backwards and that is why the knob was on the wrong side, I got shouted at. I got shouted at a LOT, and he would always claim he wasn't mad at at ME, but that atmosphere was quite scary for me never mind the kids.
Whenever I would bring up that his behavior (and that included much more than what l've said here) was making me upset, and that I was sure there were things about me as well that he didn't like, he would always say everything was fine, he was very happy with his life and with me, including and up to the point where I told him I wanted a divorce. He was in such denial!
Not sure if any of this is relevant to your situation, but yes, you need to nip this stuff in the bud if possible, or find out, like me, that the bad greatly outweighed the good, and he needs to be an XH.
I decided I'd put up with enough, and dreaded the idea of retiring with him.
It doesn't sound like your marriage is off the rails yet; but do insist on continuing to communicate your needs to him without him getting grumpy.