Do I suck it up and make it work or walk away??

So my boyfriend and I have been together 5 yrs and have 2 kids together. But he has trust issues. We share a Facebook an email. Cellphone and we work the same shift at the same job. And I did all this because we kept having issues with not trusting me ( I've never cheated I've never text another guy inappropriately nothing to give him a reason not to trust me. But I have guy friends and girl friends but anytime he sees me talking to a guy he flips out and these are people who have been my friends before I even knew him so obviously there is nothing more because I would be with them if I wanted to be but they are just FRIENDS. But I feel like after 5 yrs together 2 kids a shared Facebook email and phone why shouldn't he trust me right??? But he doesn't and I'm at the end of my rope. He says he is willing to go to counseling and get help but idk if it's enough anymore?? I'm so hurt and tired idk how to do this and idk if counseling will fix our problems and idk if I want to hang around another yr hoping and praying counseling will help...... what if I stay for another yr and he goes through it and nothing has changed I'm 24 yrs old and should be enjoying life but I'm not. I love him and of course I want it to work but if it doesn't 6months to a yr for on now I'll be going through the same pain and wishing I had walked away now. But what if it does help I'm gonna feel guilt and stupid for walking away. I'm so confused :( please any advise is welcome even if your gonna tell me in a total b**** for wanting to leave please tell me what you think