Enjoy him, don't try to change him.
Laugh with him. Say thank you often. Hug him just because he walked in the room.
Clif and I have been married 30 years. We giggle and laugh together (OK I giggle, he laughs)
Don't ever make your lives a competition, it is a cooperation.
On the practical side, I don't ever greet him with a problem. If I have to it is always with a "Oh am I glad to see you, you will be able to help" never an accusatory word even when it is his fault.
When he screws up, I tell him he was to learn my good habits not my bad such as dropping things.
I am not his servant and he is not mine. Yet we both wait on each other. We are trying to be helpful to each other to make each other's lives easier. We play together and we play apart. I quilt and he dives. But he is interested in what I do. Diving, for me, not so much. But I make every effort to make sure he can go and back him up. I just hate water and won't go with him.
I think it all comes down to we feel we are important to each other. Which means we take time for each other. I know job and children take time. But when I am with him, I really try to enjoy him. I try to put him first.