~10% of Earth’s land is occupied by humans. Not all of that is arable, but humans have successfully terraformed throughout history and conceivably will become more capable with technological advances.
Malthus is not unique in his prognostications. Ehrlich’s The Population Bomb (1968) was more recent and predicted mass famine by the 1970s. Instead, we produce a massive surplus of food each year, although it’s not distributed adequately at present. This happened well after the Haber process (presumably the fossil fuel dividend you refer to) and occurred as a result of improved farming techniques, equipment, and crops.
Thanks to technological developments in the fossil fuels sector (fracking, horizontal drilling, etc.), fears about running out of oil have largely subsided. Simultaneously, advances in renewable energy sources are rapidly reducing our reliance on fossil fuels. Already, some electric grids are struggling with capacity — not because of a shortage of energy, rather due to an excess of electricity produced by renewable sources.
Although none of this points to an Earth beyond its carrying capacity, it also does not factor in further efficiency gains resulting from future technological progress. At the same time, we are attempting to develop the technology necessary to access extraterrestrial resources. Given that, even the finite resources available on Earth are not necessarily a limiting factor to growth.