I'd say you're a little too sensitive. Women are intuitive by nature. They think through situations, read into things, try to "feel out" the emotions of a situation, etc... Men are cut and dry. He came home and you were gone with the kids, so you must be fine. You didn't call to say you were not feeling well, and lets face it, us women don't just sit in misery, we call and text until we're "heard". So based on the pattern of how women act, it would not unreasonable for him to draw the conclusion that you felt better and took the kids to their program.
Of course when we're not feeling well, and especially if we're pregnant, that desire to be cared for is heightened. Acts of service are probably a love language for you, and having him do extra stuff to check on you would've meant the world to you and made you feel loved and secure. Don't expect him to do it naturally. However, if you can (in a non threatening and non condemning way) bring it up, how much you feel loved and cared for by him when he goes out of his way to check in on you, it might help him THINK to do it in the future. But lets be honest, its hard to hold it against someone who doesn't think to do that stuff on their own.
Best wishes!