No, don’t do counselling with him. He’s force teaming you.He’s creating an obligation in common with you. No matter what his motives for this, and I doubt they are as pure as he makes out, do not be sucked into it.
He’s had his chances OP, chance after chance after chance by the sounds of it. Funny how he’s only suddenly had an epiphany after you dumped him. Anything to do with not having his socks washed, meals cooked and sex on demand I wonder?
Do your own thing and work on yourself. Your goal should be learning to love yourself and not need anyone else. This can take a long time but it’s the only way to ever end up in a healthy relationship with healthy boundaries in the happy, respectful relationship you deserve. After all that if you see he has changed and you still both want to get back together then you can consider it, but not yet, because the patterns of your past relationship will just repeat. In all probability if you grow as a person in your own right he will become far less attractive of a proposition and you won’t even consider it, but that is for much further down the line.
The suggestion of counselling is to lock you in emotionally to getting back together with him. It is designed to turn your efforts to concentrating on doing what he wants, and that is not beneficial for either you or the DC at this point, only for him and what he wants.
Please limit contact with him to DC related only via email, and stop letting him visit your home. He’s using it as a way to drip emotional manipulation into your ear, and you’ll never be able to move forward with anything while you’re providing him with opportunities to mess with your head.