Is my boyfriend possessive or a control freak? What should i do?

He thinks I'm cheating with this guy I work with in which I told him we are just friends. Why he thinks I'm cheating is because he dropped me off at home sometimes and I had failed to mention it was a guy because I know my BFs attitude, but it wasn't like he was going to come pick me up from work or even pick me up from the train station that is not even that far from my house. We have a 4 month old daughter together also. Back to the situation at hand, The guy who dropped me off just so happen to have bought me lunch occionally not knowing this my bf has been having people watching me at work to let him know if anything fishy has been going on. I don't know this until later but the guy and I just are platonic friends. He knows I have a boyfriend whom I love and wants to marry one day (I think). Because I can hold a conversation with my friend at work over the phone and the other things he thinks I'm cheating. When he saw him drop me off he put his hands on me.