D.J.
(LOL at the image of father and child sprawled out on the couch with crumbs all over them.)
I really don't think you should take all of the blame for being anxiety-ridden when you don't feel that your husband is not doing things the "right" way (ie. your way).
My DH also started off feeling that he was supposed to be more of a "buddy" than a father. I would do everything I could to establish a routine with my daughter. Then on his days off, he would throw everything off, doing whatever he wanted and not what, I felt, was in the best interest of our child. Then when he went back to work, I would have to start all over again. It was very frustrating, but overall, our daughter was always fine.
Personally, I would leave out all the food you want your son to eat in a neat pile in the center of the counter. That way he's more likely to grab for that since it's within arms reach. Everything else, just let him deal. It's hard to get over the anxiety at first, but chances are, you (hopefully) didn't marry an idiot.
Good luck.