AP hittin some good points.
Know WHERE to bring up whateva issues you might have against him. Meaning...DO NOT WAIT UNTIL THE FAMILY COOKOUT, PUBLIC PLACE, OR AROUND THE COMPANY OF YOUR FRIENDS TO AIR OUT YOUR DIRTY LAUNDRY!!
You think you're only embarrassing him...
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You're embarrassing yourself as well. Any issue you & him have wit each other should be done privately. You want an audience, then go participate in a reality TV show.
Know when your "nagging" limits. We understand ya'll don't see addressing your issues as nagging, but if you're constantly going on and on, almost non-stop, then yes you've gone past addressing your issues, and entered into...THE NAGGING ZONE.
If he just got in from work, let him get settled 1st. Give him time to adjust from being in one environment, to another. He has to decompress just like you. So plz don't bombard him as soon as he walks in.