Me and my SO tease each other all the time, I tease him about being needy and insecure (because to the rest of the world, he comes across like doesn't give a fk.)
He teases me about being TOTALLY disorganised.

It's like having a valve on a pressure cooker.It helps by laughing off stuff that gets on our nerves but in no way justifies an argument or 'talk'.

If we held onto these things bottling them up it probably would become an issue, it there is a massive difference between teasing and bullying.
It's Not typical to hear nothing but good things about ourselves, it does you good to be able to brush off criticism, especially if your safe and you know that person loves you.
There is nothing wrong with growing a thicker skin either.
You can love someone despite their faults and the things that drive you crazy.
Nor does it do any harm for you both to try and find the humour in things.

To the OP, what r the things that drive you crazy about your husband, but you love him all the same?