In what way does he want you to be like you were when you were first together? How do you feel the two of you have changed the ways that you interact with each other? Having kids is SUCH a time of transition for each individual and for you guys as a couple. It's not all about each other anymore, and that can be hard for the guys to deal with sometimes. I know if you're staying home with the kids that by the time he gets home you're probably just feeling DONE with everything. Exhausted, frustrated, ready for adult conversation, etc. I know that's how I was when my two were itty bitty and I was the one home all day. It can be really hard to welcome hubby home with open arms when you feel like you've not even had five minutes to breathe all day long.
I think your dh needs to realize that things are NEVER going to be just like they were before kids. It's not possible. But that doesn't mean they can't be great. Just different. If at all possible, get someone to watch the kids for just a few hours one evening so you guys can go out and have a nice dinner alone. If that's not possible, have a late night dinner alone after the kids are in bed. No TV, computer, etc. just the two of you talking and reconnecting. Maybe you can get him to open up about what he feels is missing from your relationship.
It may seem at first that you are putting in all the work of trying to fix the relationship, but at first that's okay. Sometimes we as women have to be the emotionally strong ones and step up and just DO it, and after awhile of watching this the hubbys start to pick up on it and join in. Try doing little things for him to let him know you love him. Even if you might not feel up to it, just try it. It might sound cheesy, but try making the bed up all nice and leaving him a little note on his pillow with the top five reasons you fell in love with him. Slip a note into the pocket of his pants before he goes to work saying you love him and you hope he has a good day at work. Little things like that can go a long way toward freshening up a relationship.