He is telling you what to expect, in your life, going forward. With the exception of
He thinks of me as a friend
, he is being brutal, but forthright.
The friend thing, though, is a lie he's telling himself. I suspect it makes it all right, in his mind, to express the other stuff. He is NOT your friend---at least not now.
Given everything else your husband has said, it doesn't sound as though friendship is even possible.
If you were anywhere near D-day, I'd say, "Give it time." But then, I'd also say that MUCH more than time is needed.
What did you do, closer in, to heal from your infidelity? What did you do for him, for yourself, for your marriage? Was there IC for both of you? MC? (And if not MC, was it because you did not feel safe together?)
If you were to do some of the things you may not have done then, do you think his feelings might change?
Or is this the way it is---and you're expected to silently accept it as your penance. You're LOTS of years out---does he even want to heal, to move forward constructively in your marriage? Or has he so thoroughly embraced his victim role that he can only find comfort in it, rather than in a happier, healthier relationship?
Certainly, what he's telling you is completely incompatible with any sort of constructive reconciliation. Are you okay with living your life this way? I have to say, it breaks my heart for you.
In your shoes, I'd spend some time investigating whether this is the new status quo, and whether your husband sees ANY way out of this terrible, terrible pattern.
Infidelity sucks, but its discovery does not carry a life sentence without parole---and in effect, he's given you one, garnishing the shit sandwich with, "But you're my friend."
Thing is, he's not your friend. Friends don't treat their friends this way. Be deludes himself that you have friendship because it somehow validates his otherwise utterly unacceptable (and IMO---as a BS who endured cheating for many years, with many partners--betrays you and your marriage as surely as sexual infidelity) stance regarding your marriage going forward.
You don't have to accept this, you know. You are worthy of love. You are worthy of a partner who respects and cherishes you. You are worthy of physical affection. You are worthy of ALL the good a marriage should carry.
I am so, so sorry you are not in a good place.