I hear you! My hubby is the same way. I think he's starting to get used to it now, but he still doesn't like it that I don't have energy anymore (mostly because I was always the one getting stuff done!). He was bugging me about working out, but that pretty much got put to a stop when 1) I told him how much it was bugging me 2) he started gaining a little weight himself and now has to keep his big mouth shut - hehe and 3) I lost a pound instead of gaining, and told him that the doctor scolded me (she didn't, but he doesn't need to know that!)
Whenever he bugs me about being lazy, I just yell at him that I'm busy creating life, or making a miracle, and he rolls his eyes and walks away. As you said, my DH is really not that bad and has been more helpful than usual, but they just don't get it. I think part of it is just that men don't like change... so they complain about it. Sorry that I don't have better advice for you.
PS. If my husband woke me up, there would be hell to pay. Heads would roll!