He was probably just clueless.
My husband doesn't bring up all the laundry, he will just go to the laundry room each time he needs something.
I hate going back and forth, so if I need one thing, I will make one trip and bring every thing all at the once.
It's two different mentalities. I think, "Ok how can I make the least amount of trips to the laundry room." He thinks, "Need towel." then, "Need shirt." then "need blanket".
Maybe next time catch him on the way out and politely say, "oh are you going out to get the towels? Can you bring mine in if they are dry?" This might get his mind working a little more toward the cooperative mindset you'd like to have in the house.