When your husband said, "Take it easy" it was probably because you squeezed too hard. Rub, Yes. Stroke, Yes. Lightly "tickle" or scratch, Yes. Squeeze, No.
Get the book, "The Proper Care and Feeding of Husbands." It will explain a lot about how your husband feels. After you read it, give it to your husband so he can read it. He will learn a lot about you.
The longer the time between being intimate with you the more your husband will have sex on his mind.
If you want things done differently, then show him, tell him. But realize you are giving mixed messages. You said, "I have told him a million times, if he tried a different approach, like maybe a kiss or a hug first and would get him way further than groping. Maybe if he could ease his way into it, I would stop doing the dishes and give him attention. I am not against groping at all, but geez, take it slower!" Then you complained, "Before he left his morning he gave me a kiss and then stuck his hand in my bra. I gave him a funny look and he was like 'Why cant I just touch a boob before I leave?' lol." You asked for a kiss or a hug first, then when he did, you complained when he touched your boob.
Almost all men love to touch their wives. Its apparently a man thing, from what I've learned on this site.
What should you do the next time you are washing the dishes and your husband reaches around you and gropes your boobs? Tell him to back up 15 seconds and try again. Tell him, first grab my upper arms and squeeze, like a hug. Now, step forward and kiss my neck on each side and say, "I love you!" "I think you are so sexy." Now reach around and grab my boobs and hug gently (or however you like it.) Undo the buttons on my blouse as you kiss my neck and nibble my ear(s). Tell him to say, "I love you so much" "Thanks for doing the dishes and the laundry. I sure appreciate what you do for me and for our family." Now undo my bra. Kiss my neck some more. Give me a hug. Now reach under my bra . . . I could go on, but you get the idea.
I realize I may have the wrong words or gestures, but YOU know the right words and things you want him to do. By giving him "private lessons" he will learn and you BOTH will be happier. When my wife and I went to a couples massage class on one of our cruises, I was massaging her too hard in some areas and not hard enough in others. If she hadn't told me what she liked, I'd still be doing the wrong thing.
You are welcome to e-mail me if you want to bounce questions or ideas off me, but I have no doubt you know what to do.
Good luck to you and yours.