My husband just doesn’t understand

I need to vent. My husband just doesn’t understand why I’m so upset with him. He complained that our four year woke up at 240 and didn’t go back to sleep for over an hour. Ok it happens. We both got little sleep. I woke up with the kids, fed them, fed the dog, let her out, did the dishes and cleaned the house. He woke up around 140 pm and had been sitting on the couch watching tv. I’m 5 months pregnant and all I have asked him to do today was rub my foot that has a cramp in it. He sighed and barley touched my foot. Like bro seriously? This is literally every day. Keep in mind I also go up to his work every day to help him do his job. But he alway makes it seem like I’m bothering him.. I just hate it so much.