At least he's a present father and husband.

For the most part he trained at home. Instead of swanning off to the desert for months. Not even coming home.

And you can call it 'beating', he was training his son, then at least he did take him to the park after. And in the context of the show, he isn't shown to hate it. It's played like he pestered Vegeta into training him.

Vegeta refuses until Trunks reveals he can go Super Saiyan.