Does relationship counseling work?

My boyfriend of 4.5 years and I decided to have a baby...I always thought he would propose but he hasn’t. Well baby is here and we love her to pieces but it’s been really hard on our relationship. We fight a lot usually about having time to relax or unwind. I asked him last night if he wanted to go to counseling and he said he would try it because things have gotten so bad. I asked him why he never asked me to marry him and he said I don’t want to make that commitment to you right but I did a year ago. He says you don’t need a relationship to raise a baby and he could do it without me. Obviously that breaks my heart. Question is does counseling help or possibly make things worse? Does the therapist ever just encourage you to break up?