M.W.
I don't feel like you're setting yourself or your son up for anything bad by helping him get to sleep. By helping him fall asleep, you're teaching him that it's a pleasant thing to do. Forcing him to figure it out on his own & cry himself to sleep will eventually get him to give up looking for help & fall asleep, but is that what you want him to be feeling? Nurturing a child to sleep definitely does not mean they'll be dependent on you forever for sleep.
My 8 year old was cuddled to sleep every night for the first three years of her life. My 3 1/2 year old was nursed/cuddled to sleep until she was almost three and sometimes still is. Both sleep well through the night & have no issues with being unable to function independently where & when necessary. They're even homeschooled, but are somehow turning out to be pretty cool kids. ;) The 8 year old recently went into a gym full of children she'd never met (for our homeschool co-op) & told me she'd introduce herself & I could leave. My eleven month old is nursed to sleep and is also showing signs of turning out pretty well herself.
So, yeah, I think what you're doing is fine as long as you're cool with it. Totally enjoy the cuddles. If you're ready to get him to start sleeping without you for your own sanity, I'd recommend going slowly. Nurse him until he's almost asleep then put him in bed & sit next to him until he's out. After he gets good with this, move to standing by the door after putting him in bed; then outside of the room & checking in often. It may take awhile, but he'll get it.
If, though, you like the cuddles & the nighttime routine you've got going on, don't worry about it. Don't change it. Have faith that he'll get it when he's ready & despite the horror stories some will tell, it's FINE to do what you're doing. You're a great momma for giving him what he's telling you he needs. :)