Your right to not let your child cry it out needlessly. I was just reading today (sorry, lost the link) about how crying at such a young age releases stress hormones and can adversely affects the baby.
I'm not sure why you want to change a sleep situation that seems to be working for you. Co-sleeping really is great especially when you breast feed. I know our society attaches a certain amount of stygma to this when in many other countries it is considered the norm.
My ds was allergic to his crib. I found that a co-sleeper (we had an Arm's reach) was a wonderful compromise. The baby sleeps right next to you but sort of in his own crib. I've also know people who have moved their cribs up next to the bed with the side rail down and used this to transition the baby to the crib in a more gentle way.
I'd suggest checking out Elizabeth Pantley's book called No Cry Sleep Solution. She offers a number of suggestions. If you're interested in continuing to co-sleep, you might want to take a look at Jay Gordon's book called Good Nights. It's the parent's guide to the family bed. Dr. Sears also has a lot of information regarding sleep in general. Most libraries have these books.
In the end, you should do whatever gets everyone to sleep. As I mentioned before, my son didn't like his crib. I went to my ob for one of my later appts and mentioned somewhat sheepishly that ds was in bed w/us in the cosleeper. My ob (a woman with 3 boys) said to me, "yeah, my 3rd son was like that. He coslept with us and it worked out great. Look, whatever it takes to get some sleep." She was right too. It's nobody's business but you and your dh and dc's where everyone sleeps.