I'm going to ask my husband's friend to stop coming to our house
Why don't you want his friend to come over?
I think he's over-familiar with my husband and I find it inappropriate,
It sounds like you are dealing with some jealousy. Trying to control who your husband is or isn't friends with is going to make him choose between you or the friend. How will you feel if he doesn't choose you?
So in a nutshell, I can never have him all to myself?
No. Both of you can be friends and hang out with other people. He isn't your property.