my boyfriend dislikes me hanging out with my guy friends

hey, so I have a problem.

I told my mum, when my boyfriend was there, that I was going to take my dog on a play date with my friend and his dog.

My boyfriend questioned who I was going with and I said in a joking way:

"(friends name). or am I not allowed to go"

(because he didn't like me hanging out with a previous guy friend and told me that I wasnt allowed to see him until all 3 of us met in person)

He got really pissed of at this and even told me that I was a dick and later texted me saying:

"There was no "you okay with me walking the dog with him" or "you can come as well if your not comfortable" and worst of all you weren't even going to tell me. Not going to tell me hurts and the fact that you had no consideration for how I feel, regardless of me being fine with it hurts too."

what do you think I should say to him?

honestly, I don't think I am obligated to ask him to go out with a friend and he's not obligated to come out with me and MY friends.

I was thinking of starting the message off like:

"You are my boyfriend. NOT my father. I do not have to ask for your permission to go out with a FRIEND"

yet I don't know how to continue talking about how I don't want him being with my friends because he has to 'protect' me

the last thing I want to do is break up but he's scaring me at the moment because we're only 16 and how will he be in the future...

I need Help ASAP