E.W.
I want to echo the comment about letting him sleep on the floor if he insists on sleeping with you. All my kids went through wanting to sleep with me. They would always go to sleep in their own bed, but would wake up and come into my room. I tried to let them crawl into bed with me, but I could not sleep with them there. I calmly explained to them that Mom didn't sleep well if they were in bed with her and I would be a grumpy mom if I didn't get my sleep. So I let them sleep in a sleeping bag on the floor. That only lasted a little while before they realized they were much more comfortable in their own bed.