S.H.
This is an involuntary sucking thing he is doing in his sleep. It is most likely self soothing. You can't stop it... he does it in his sleep. Even if you wake him each time he does that... he won't stop, and then he will not be getting a good sleep. And he can't literally tell himself what to do, while he is asleep.
Just be thankful he is not sucking his thumb or a pacifier.
My son, used to use a pacifier (he doesn't anymore)... and once in a blue moon, I will see him sucking his tongue. But it is only for brief moments. For me, its not a bad habit or a big deal. It is just something he does. Like, some people snore, or grind their teeth, or talk in their sleep, or fart while sleeping.
I am sure he will grow out of it.
All the best,
Susan