Sounds like he is manipulating you. "Be there by noon"??? Sounds pretty controlling. I had a friend go through this - her husband tried to take all the assets, etc. He was completely delusional about the financials.
Counseling isn't a bad idea if only to get some issues out on the table with a neutral party. If this is a couple's counselor, you both have that person's attention. If this is HIS therapist, the counselor's primary focus is your husband but that doesn't mean you cannot go or that the therapist will be hostile to you in any way. However, I doubt your husband has entered therapy for his own benefit. So it wouldn't hurt to go and make a reasonable effort to at least clear the air. The goal is not to get back together necessarily - it might be HIS goal but not necessarily yours. You can say you don't know what you want to do - you are not ready to have him move back in unless and until some major things are clarified and changes put in place. Counseling may also help you clarify that you are sick and tired of what's gone on, and you're ready to divorce.
Only you know what's best for you, but I don't think avoiding counseling to prove a point is necessary. However, I would make certain that any subsequent appointments are made on a mutually beneficial schedule - none of this business of him telling you what to do and when to be there. He's just looking for a reason to say "I tried and she wouldn't cooperate."
You might also want your own counselor to help you through the transition, help you figure out what to tell your daughter as you go along, and help you figure out how to advocate for yourself.
When divorce happens, the judges often look at whether or not counseling was attempted but it doesn't affect how much child support your get or whether you get the house, etc. It lets the judge know that the couple haven't just jumped at divorce without a reasonable length of time or effort to resolve any issues, and it lets them know that one person hasn't been completely railroaded, that an objective party has been involved at some point. But don't do it for legal reasons - do it if you think it will help and/or if you think it will take away your husband's ability to blame you.