Seems like he is just use to the independence? I mean living on your own then coming back home has to be hard. Not sure what to say really. Just do your best... Talk to him if he's bugging you that badly and tell him to shape up or ship out.
But seriously it's your house you set the rules if he cant abide by that then well... About the not being in a hurry, maybe he's not, are you worried about that cause it puts a financial burden on you or something else? When he goes to college does he live in the dorm? Does he have a job as well? Not sure how to answer cause don't know what his dependence/independence level is. But, basically just sounds like some time for some tough love.