I asked you to really think about this, because anyone you talk to will ask you the same.
It's to establish whether you're in a healthy or unhealthy situation.
Given that you have other issues, depending on others for basic activities isn't that unusual. They're there to help you live normally. So yes, you will feel dependent on them, that's just you identifying with your own frustration with your disabilities.
If, instead, you feel like you couldn't live without *him*-then that's a problem.
If you can live with another caregiver and you believe the distress he causes is unreasonable, you can certainly talk to your caseworker or a therapist to find out what your boundaries are and if he's unreasonably trespassed. Checking your pills? Invasive-but if you're absent minded, it's keeping your best interests in mind (and I'm sure you can expand on that).
Censoring your phonecalls, calling you names? No, not okay.
If you have someone who is more familiar with you and your needs, I would suggest bringing it up with them, if for no other reason than to air it out and smooth any rough feelings that may be flittering around. If you're not sure they can also give you a better opinion of what a caregiver or supporter should be doing in your specific case and what is unacceptable.
I hope I've been able to help give some clarity.