MLG INSTRUCTED TO ROLL TO END OF RWY TURNS OFF 1 TXWY EARLY AS ACFT DEPARTS OVERHEAD.

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WHEN WE CHKED IN ON FINAL OVER THE OM FOR RWY 4R AT ORD; THE TWR CTLR CLRED US TO LAND AND SAID THAT WE COULD PLAN A ROLL TO THE END OF THE RWY. WE WERE ALREADY SLOWED TO OUR FINAL APCH SPD AS APCH CTL HAD GOTTEN US A LITTLE CLOSE TO THE TFC IN FRONT OF US. AFTER WE LANDED AND AT ABOUT 90 KIAS; THE FO WAS JUST TRANSFERRING CTL TO ME WHEN TWR TOLD US TO EXIT THE RWY AT THE NEXT EXIT. WE WERE GOING TOO FAST TO DO SO BECAUSE WE PLANNED TO ROLL TO THE END. TWR TOLD US TO HURRY TO THE END AS OUR TFC WAS ON A 1 MI FINAL. I DECIDED TO HELP OUT TWR BY EXITING AT THE EXIT 1 BEFORE THE END OF THE RWY (I THINK S5 TXWY). WE RADIOED TO TWR THAT WE WERE DOING THIS AND HE SCREAMED AT US TO NOT DO THAT. IT WAS ALREADY TOO LATE AS TFC WAS DEPARTING RWY 9R AND S5 TXWY GOES VERY CLOSE TO THE END OF THAT RWY. TWR TOLD US TO HURRY ACROSS THE EXTENDED CTRLINE AND THEN CALL GND CTL. WE HURRIED ACROSS THE CTRLINE JUST AS JET TFC WAS TAKING OFF OVER US. NOT A SUPER CRITICAL MISTAKE; BUT IT CERTAINLY COULD HAVE BEEN. A CONTRIBUTING FACTOR WAS THE CHANGE OF CTL FROM THE FO TO ME. I GENERALLY LET MY FO KEEP CTL OF THE ACFT ON LNDG UNTIL VERY SLOW (TURNING OFF THE RWY). THIS PARTICULAR FO SURPRISED ME BY GIVING ME THE PLANE AT JUST BELOW 100 KTS. NOT A SMART IDEA. I WILL BE MORE SPECIFIC IN MY APCH BRIEFING IN THE FUTURE TO AVOID THIS MISTAKE. I ALSO REALLY RESENT WHEN TWR BEGINS YELLING THINGS AT YOU ON THE LNDG ROLL. WE ARE BUSY ENOUGH WITHOUT GETTING ANOTHER SOURCE OF CONFUSION INVOLVED. I OBVIOUSLY WILL NOT TRY TO LET THIS HAPPEN AGAIN IN THE FUTURE.