Husband not so warm with my family

Husband takes a long time to warm up to other people in general but he gets easily annoyed with my family. Some of the things they do are not such a big deal but he lets it bother him and I can tell how his behavior is 'different' around my family. It upsets me especially because they have helped us (and still help us) in many ways. They have always been good to him but he is more reserved (in general) and it's a big effort for him to make small talk with them. He is usually polite (saying thank you for watching our toddler etc) but I feel like it's the bare minimum. He acknowledges he has to work on it, but we've been married for 10yrs! He says it's just not that easy for him to be social with other people in general and with my family he has to learn to not get annoyed with small things. I don't think it's fair we accept their help but husband still has issues communicating with them. Any ideas?

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