Absolutely he senses it. They have a very intuitive and adaptive "radar". If you've made up your mind, stick to it. Joint counseling will only confuse YOUR issues. He has nothing to lose.
From my experience, joint counseling with an alcoholic is only a losing proposition for us. Since they are not bound in any way shape or form to the truth, they can say what ever they want. And most things you say will be met with a "prove" it mentality. Since you have been living with an alcoholic, you have developed a tremendous ability to compartmentalize and forget about his bad behaviors. You simply have to in order to survive.
Next, what ever the matter is a compromise will the the outcome. If your entering position is normal and reasonable, you can bet your bottom dollar his position will be way, way out to the fringe. And the compromise will be somewhere near the middle of these two diametrically opposed positions. And it is a win for him, as you are doing more of what he wants, yet less of what you want.
If you feel trapped or compelled to go, remember this. And what ever you want, go WAY, WAY over the top. This way the eventual compromise is closer to your reality.
Stay strong.