Does it REALLY bother you that he comes to bed with you? If not, my advice: Forget the books..."they" don't love your baby as much as you do...and "they" aren't THERE.
Do what you think is right; what your heart tells you to do. My son was nine months old when he gave up his pacifier...but he still "wakes up" regularly crying in his sleep. I cannot bear to hear him cry so, I check on him and try to sooth him back to sleep...sometimes it works, other times; it doesn't. When it doesn't work...or I'm too darn tired to deal with it...I pick him up and bring him to bed with my husband and I. I'm told this is a bad practice...well, you know what - I don't care. :) He will only be this little for a short time and someday, he won't want me to snuggle with him...and I can guarantee you, he will NOT want to be sleeping with me and his dad when he's a teenager! :)
My best friend has three kids...and she made a good point when I was worried about his using the pacifier, eating at night, sleeping with us, etc...she said that "as long as it's not hurting him, don't worry about it. He won't take his blankie or pacifier to school with him...for long. At Preschool/Kindergarten, peer pressure can be a good thing". :)
Only you know your baby best...so, don't think of it as you are doing something "wrong"...as long as it doesn't bother you and your baby isn't suffering...you're doing fine.
Eventually, a)you will figure it out; b)your baby will figure it out, or c)you'll get to the end of your rope and you'll make the necessary changes to be able to survive. :)
Good luck and don't be so hard on yourself...just listen to your gut/heart.