I don't know about counseling... I don't know how severe your anxiety was, but I have a good amount myself and counseling did NOT help me. I am now seeing a "therapist" who specializes in these kinds of things.
I have the same issues with my mother... And yes, it most likely starts there. My first two sessions with my therapist were about my childhood. My first counseling session revolved around whatever specific "goal" I wanted to achieve. The counselor obviously could not see that my stress and anxiety were symptoms of something much deeper.
It is good to start somewhere, though, and I hope this is stuff you're opening up about to your counselor.
As far as your family goes, unless everyone is on-board with family therapy, you will just have to let them be as they are.
How is your marriage with your husband?
Congrats on your coming arrival.

I was were you are now about a year ago. I know exactly how you're feeling... Nothing like a pregnancy to amp up anxieties and such. :/
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