Some examples, and these aren't one-offs, it's nearly every time I do these things.
I open a cupboard door, he says "what are you after?"
I get dressed, he says "Oh, I thought you'd have put your shorts on"
I'm cutting up some salad, he says "oh, I thought you'd have used the other knife"
I bring the shopping home, he says "there's not much there. I thought you'd have gone to Tesco"
I take the dog out for a walk, he says "oh, I thought you'd have taken him to the woods"
He's there at my shoulder, what seems like all the time
I recognise some of these behaviours.
Some people are covertly controling and it's often tied to anxiety. They can be pretty intense. If they ask about where you've been, they'll want to know the exact route, the exact spot you were. It needs to be nipped in the bud because supplying them with the information they need often just makes the situation worse over time.
I open a cupboard door, he says "what are you after?
Your response to this should be 'Why are you asking?' or just don't tell him. He doesn't have the right to know every single little thing you do.
I get dressed, he says "Oh, I thought you'd have put your shorts on
Yep. I recognise this one as well. He doesn't want to outright tell you what to wear (because he knows how that would sound), but people like this will use other, more subtle way of getting what they want. It could be a look, a sigh, or an absolute classic 'Oh.....you're wearing that'.....followed by deflated body language and silence. It's meant to communicate to you that you have disappointed them and they're hoping you'll get the message by yourself and do as you are (subtly) told. Same goes with the knife comment.
The rest of it sounds like criticism rather than control. I'd say everyone engages in this sort of thing every now and again, but people who are controlling, anxious or manipulative will show these behaviours regularly.
FFs, you should be able to open the cupboard door without asking you what you are after. He is infantilising you and the way he does this shows that he thinks that the cupboard is his property that you need to have clearance to use.