If he actually suggested a counselor, then for your kids' sake, it's definitely worth going. If he made that suggestion it means he actually must want you to stay together.
Bottom line is, the two of you don't treat each other well. No marriage will survive that. The good thing about that is -- that is something that can be turned around in one day. When people start treating each other with love and kindness and attention, it's amazing how attractive they start to become.
It's the typical male/female scenario - he doesn't help much and is minimally involved, and you therefore nag and detest him.
Both of those things are pretty easily changed, when it comes right down to it.
Go to the counselor, your kids deserve it. And in the meantime, if the two of you could make a pact to treat each other (even if you don't feel all in love) like you did when you were first dating, you might be surprised how much you start to like each other again.