As much as you can, let that nastiness of court proceedings go, letting it sit in the past. Your children live in today, and need you to focus on them today in order to have you help them shape wonderful tomorrows. You possess everything they need from their mother. They truly deserve you. I'm so happy for all of you to have each other at this level again. That is a rare gift after such court proceedings.
H's description of the mother's role as nurturer is a huge compliment and invitation to you. Take it! He's probably also admitting at some level to being a bit overwhelmed by doing it all by himself, and likely is welcoming your fuller reintroduction to their lives.
