Welcome to the board. There are no quick fixes here, but there are many people who have thought long and hard about how to improve their marriages.
I guess my first question is whether you agree with your husband's assessment of you over the past few years. Do you feel that you have been pushing him away? If not, can you imagine why he thinks that you have?
You mentioned that you have a two-year old. I know first hand how having children can affect a marriage. How have you adjusted to the child? Do you share child rearing responsibilities? Or do you get worn out taking care of the child by yourself?
Check back frequently and you'll get a variety of opinions on how you could proceed. Don't give up if people say some things you don't agree with. Over time, you may start to see how you could effect change.