He doesn't sound very professional to me either, tbh. Not sure he should have been offering you lifts or 'inviting' you to his church. As I understand it, you should only spend time with your therapist in therapy sessions, anything else could be considered a 'dual' relationship, which is to be avoided for the sake of the therapy -- and the client. It's ironic he spoke of your boundaries being violated when maybe he could be seen as violating boundaries himself...

I'm quite new to therapy myself, though, so maybe I'm speaking out of turn.
Hope you figure it out