Ah yes, the overtired, misunderstood SAHM. When I didn't work, I knew many women like this, only thinking of themselves.
So, do you want him to do bedtime because you want him to have quality time with them, or do you want him to do it so you can have some free time? When exactly does HE get free time? It sounds like he doesn't. Of course he's unhappy with this arrangement.
Not to mention, the staggered bedtimes are odd, too long, and too much work. DD has been brushing her teeth and doing most of her bedtime stuff for a couple of years now, sometimes with a story thrown in, sometimes not. When she's tired, she usually just wants to go to sleep, and it's good with me.
When you have kids, I agree that both parents need to help, but I think it's unfair of you to give him zero decompression or relaxation time, but make sure that you get yours. I don't care what anyone says, working out of the home all day, for 10, 11, 12+ hours AND being the only bread winner is very tiring and stressful. He needs his rest time to be productive, keep his job, and keep a roof over your head. If you're tired, you can still hang out in your jammies all day if you want to. I am gone from my house for 10 hours and you know when I get to rest? When DD is in bed at 8pm. I thought that's when most parents took a little break.
Bottom line, you have chosen this lifestyle. Be happy that you're able to stay home with your kids and give your husband a break. And find other ways for your husband to spend quality time with the kids. Because a 3 hour bedtime routine ain't it. And, find other ways to get your "you" time.