It's not your job to rearrange the universe and ask him repeatedly if he wants to have time with his daughters. Not bending over backwards making arrangements is not alienation. He is throwing around terms that are not applicable to this situation in order to try maintain the status quo in your relationship.
To give you some perspective, if my exah is more than 30 min late picking up for his time I can cancel. That is standard in most states. It's not my job to remind him or ask him a million times.