I don't want to sound like I'm trivializing your situation but my response has to be brief.
Your husband kicked you in the stomach. WHY are you still married to him?
You haven't forgiven him because it would be stupid to forgive someone for abusing you physically. Mistrust is extremely important. It's a very base defense mechanism that keeps you from getting hurt. If you ignore mistrust, you will be hurt again.
I wouldn't tell my worst enemy to stay in this marriage.
I know right, why am I still with him.
It is good that he stopped physically abusing you but he is close to being emotionally abusive to you, which can be just as bad.
"We have gone to counseling before after we got married, prior to getting pregnant and as you can see that did no good."I have done MUCH research on abuse, and I can tell you that marriage counseling will not work on abusers.
I will go look for that book today.
Also, I feel like I am at fault.
"Every time I try to explain to him how I feel, he says that I talk to him with disrespect so that is why he does it to me."Here's my take on this...
"But all in all, I bet I talk to him that way because he does it to me."
Can you give us an example of what you say to him when this disrespect is going on?
Was there ever any apology or remorse for kicking you in the stomach and making you bleed?
Used to and still sometimes now I will reply with a mean comment back when I feel his comment to me was rude.