That's a bit of a skewed interpretation don't you think?
First of all, Raynor WASN'T in charge of the invasion initially; it was Gen. Warfield, and by extension, Valerian. In fact, Raynor was the one who SAVED it. It was General Warfield & Valerian who made the mistake of launching a direct frontal assault on Kerrigan's primary hive clusters (against Raynor's advisement) and because of it, the whole offensive was in danger of becoming one of the biggest clusterf****s in the history of the galaxy. The first mission on Char lampshades this point. It was an ill conceived invasion that was rapidly going south and it was only by the efforts of Jim & his Raiders that the whole thing was salvaged and made into something resembling a successful operation. Gen. Warfield, after seeing who Raynor truly was as opposed to what Mensk had led him to believe, and acknowledging that Raynor was his best shot at completing the operation, gave him full command of the dominion forces. The fact that scores died during the assault was irrelevant at that point. They were in too deep now, and had little choice but to see through to the end.
As for the claim that Raynor's sole motive was due to some misguided selfish love for Kerrigan, maybe that was part of it, but it wasn't the sole reason. Although it's established that Kerrigan must live, one way or another, she needed to be STOPPED. Raynor knew this and deep down, despite their misgivings, so did his crew. Unfortunately, while he had extensive experience and resourcefulness, he was lacking in resources and manpower.
Valerian Mengsk however, had both but lacked the necessary knowledge and experience in dealing with the Zerg to pull such a military operation off.





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Zeratul wasn't surprised by their appearance, and it could have just been apart of a base set up by a Protoss rescue team. (Note the Stalkers in the Warp Gate.)
