Baby #3 on the way, and he wants out???

Okay so weve been together 4 years, married 2. I have a 5 year old daughter from a previous relationship, and then we have a 15 month old and a baby due in September. Overall we have a decent relationship but he definitely has a tendency to belittle me, and make it like i dont work as hard as him. I work and i am the sole caretaker for our children. I went downstairs to get sheets for our bed. I couldn't find the ones i wanted but because i had taken them all out i wanted to put them back neatly. So 5 minutes turned to 20. He got mad because i left him upstairs with the kids. Even though he just leaves me to go to the garage to work on his guns and stuff. When i came up i made a comment about how "i wouldn't expect him to watch the kids for too long" god forbid i had something i was doing. Then i made a comment about him needing to show me more respect. So he said "idk who the fuck your talking to that way but if ur gonna talk to me that way then ur ass can pick up a shift tomorrow instead of having a day off" then he called me a stupid mother fucker. i ignored him. I went back down, with the kids this time. When i came up and checked my phone he texted me "if all your ever gonna do is talk to me like that and constantly bitch then theres no reason to be together".

Should i take that as a hint and leave? He's said this type of stuff before, i feel worthless in his eyes.