The way to tell if you're being a control freak or not is to ask yourself whether you're trying to control something that really doesn't affect you at all. If his procrastination of a task truly doesn't affect you, then it's none of your business. However, if he's procrastinating doing something and the result definitely affects you, then you have every right to be involved as well. You really have to pick your battles on this one.

One thing that may help is to assure him that you're only offering to do the task for him as a convenience. He is probably getting defensive because he thinks you're implying that he's incompetent and cannot do it himself. Some would say this is a stereotypical manly thing, but I feel the same way when someone wants to take over a task that I've been procrastinating on.

Also, you can try to secure his agreement about delegation/division of tasks before there is an actual task in dispute. If you catch him when he's calm and there is nothing due and get him to agree to let you manage certain things, then you can remind him later of what he agreed to.