D.C.
Hi S.,
It sounds like you already know the answer. In your post, you say "he doesn't wanna marry me is because me and his kids cant get along" and "he would never marry anyone who would use marriage as a way to make our realationship better. I feel he chooses his kids over me on a daily basis, he say's he loves me but he will not marry so i can than ask for devorce later." He doesn't want to marry you.
You two also have different perspectives on the children. You're pushing to make them more independent, and he's happy enabling them.
You either have to accept the way your relationship is right now, or you've got to let him go. You're not going to change him and he doesn't want to change.
Sorry, I know that's tough to hear, but his actions are telling you he doesn't want to marry you.
Good luck to you.