Your son sounds lovely! And it's not that it's going to be so awful when he's older, it's just that it's more challenging to change behaviors once the kids are smart toddlers. :) So if you don't mind him doing what he's doing now, then don't worry about changing it. If you want him to be able to nap on his own, in the crib, then now's the time to work on that. If it's really not a big deal, then why worry about it?
When he's napping on the bed, does somebody nap with him? Do you have rails to keep him from falling off? That would be one concern. When he's older (or even now!), he'll likely try to climb off the bed on his own, if you're not there with him. And that could be a safety hazard. Just something to think about.
Also, I think it sounds like he's going to bed pretty late! It's hard, with you getting home so late. If you get a lot of good time with him earlier in the day, then is it possible for someone else to put him to bed earlier? I know that sounds dreadful to you, but it would probably be good for him to have an earlier bedtime. Then again, he sounds like he's getting plenty of sleep. So maybe not!
The fact that he can soothe himself back to sleep on his own is SUCH a good sign. Eventually, you may want to have him do that when he first goes down at night as well.
This wasn't very helpful advice, was it? I guess it boils down to this for me: routines do tend to work well for babies and toddlers, but your son sounds like he's thriving. So go with your gut here, and follow his cues!