I agree with the others who have posted -- this is fairly typical for boys and especially for boys of this age. I saw it all the time among boys when my daughter was this age; the girls were more respectful of their moms than the boys were, but the boys would straighten up for their dads fast.
Remember the old saying: "Familiarity breeds contempt." Not that what he's expressing is contempt, but you get the idea: You're around all the time; you probably are the one who mostly has to say "No" to him, right? And the one who has to administer the discipline when needed, most of the time, because you're the one present, right? So he knows you all too well, and you're the one who has to say "No" and "It's time to leave the playground now" and "Put that thing down." Does your husband have to do those things nearly as much? I'd bet not.
Talk to your husband about what you said here. Get him to see your feelings are valid. Even though this is typical behavior, that does not mean you have to go on feeling as you do, and it does not mean your son should be allowed to treat you disrepectfully -- he may not be warm and cudddly (you cannot force that) but he should at least start to learn to express appreciation. Kids must LEARN that which means they must be actively taught it.
That's where your husband comes in. He needs to guide his son to treat you better and actively say thanks to mom. Your husband needs to be consistent in having your son turn to thank you for something you did, or apologize for being angry over his shirt, or whatever. If your husband is really on the ball, he could sit with your son one Saturday and say, "Let's make mom a surprise 'I love you' card" and/or have your son help him plan a surprise lunch for mom that your son would help fix. In other words -- get your husband involved in teaching your son to express gratitude and show respect.