I've read most of the responses, but not all. I have a slightly different perspective. I used to do the same thing. I noticed that I got worse when I was stressed out. I worked full time, was completing my master's degree, I had 2 children, and one was colicky for a year. We were at the doctor's office all the time with him. It was stressful. I wasn't nice, mostly to my family. I did go to counseling, and we talked through thoughts of my husband doing things without my "assistance" -- what would that look like? He does things slower than I do, he does't fold the towels the "right" way, he doesn't clean up after himself as he cooks...those kinds of things. And her response was "So?" As long as he finishes cleaning up, and the clothes are folded, and I don't have to worry about it, who cares if it takes longer for him to do it? I've learned to keep my mouth shut, and even to appreciate what he's doing. And it's very freeing to let go of something and just let someone else take care of it. At first it was hard...and sometimes I still want to "help out", but I simply force myself to turn my head away & not watch. Seriously! Turning my head away & making sure I'm busy doing something other than watching/correcting him helps.
I also have to point out that I've prayed a lot about this and have asked for ideas from religious women that I respect. Women who have worked on their marriages & respect their husbands. God made us to be the man's helper, not nagger. You already know this, but if you keep telling yourself, it really helps! God made men to seek respect, and women to seek love. If you start telling your hubby that you appreciate the work that you "let" him do, he'll start feeling good about himself & your thoughts about him. It makes my husband so happy when I praise him about something. Not in a fake, flowery way -- but a sincere thank you.
I hope both of these ideas help. I do understand where you're coming from, and feel free to write back if you'd like to talk anything through. Good luck! You're on the right track with recognizing what this can do to your marriage.