Like the other posters pointed out OP, neither you nor your boyfriend are wrong in wanting what you want, but what is wrong is him suggesting counselling so that you may change your mind. It seems that he is suggesting you "have a problem" that you need to deal with. Sorry, but this is not good. Also him saying that he will stay with you hoping you would change your mind, this would bother me a lot. If you stayed together for a few years and in the end you still did not want to move in or have kids with him, he would most definitely blame you and resent you for it.
As for you not wanting to moving in together, I totally agree. I have left my ex four years ago and have absolutely no interest in dating. If I were, however, to find an amazing, loving and kind person, I would date him (or her 😉), but I would absolutely not want to move in together or, god forbid, get married again.
Also, I have a friend who has been with her boyfriend for almost twenty years. They have five kids between them and have decided early on not to move in together. They have an amazing relationship. So, this is possible, for sure, you just have to find someone who wants the same.