How should I go about telling him?

My boyfriend has a very close family and my family isn't. We spend a lot of time with his family and when it comes to my family I feel like he is distant and doesn't give them the same respect that I give his family.

Example:

We went to visit his family, they live an hour away. I told him that I didn't want to stay at his parent's house the entire weekend but we did anyway. When we got home my mom invited us to the beach. He acted like he didn't want to go to the beach. I didn't way to stay at his parents house all weekend but I did so why can't he come to the beach. He ended up coming but gave me a hard time about it. How should I bring this up to him? I don't want it to seem like I don't like spending time with his family, I do. I just want him to give my family the same time and effort that I give his.