Two things: I think you should trust your partner when he says he's fine with it, and assuming he makes enough to support your household on his income alone, I don't think you have any reason to feel guilty. Assuming, of course, that you're both comfortable with the oh so dreaded traditional gender roles.
Secondly: if you're unhappy with "just" doing the domestic work, try to spruce them up a bit. I'm a guy who lives alone in a large apartment, and I like to keep a clean and tidy home (I just wish I was better at it), so I'd be perfectly happy with not having to worry about cooking, cleaning and laundry when I come home. But if you want to make some extra effort as a show of affection and appreciation, try some cool new recipes, make him tasty lunchboxes (if he uses them), maybe clean a little extra thoroughly and show some extra love to his clothes when doing the laundry (you can tell from the detailed description that I'm a master launderer...

). Far be it from me to say you don't do the chores well enough, but I'm sure the little extra touches will not go unnoticed.
Oh, it's not that I don't believe that he feels that way, I just worry about him feeling under pressure.
Those are some good tips! He loves ice cream, and buys it often, so I bought an ice cream maker and a recipe book for it.