I know you will think I am crazy when I say this but from my own experience, your child may be growing out of his naps. My DD is 3.5 years old and no longer takes naps. It was more of a fight to get her to take a nap. I stopped them when she was almost 3 years old and life is so much easier. When she is tired I make her "rest" on the couch. It may be that he is not tired. At daycare he has so much going on around him that he is worn out and needs the nap. Try one day to take away the nap and see how he does. It may mean putting him to bed a little earlier though.
As for bedtime, you are doing right by bringing him back to bed without talking. He his still coming to get you though b/c he knows that you are going to stay with him until he falls asleep. I think that he has changed his crutch to you being there until he falls asleep. I suggest (I know it is never easy) that when you bring him back to bed you just kiss him goodnight, tell him that it is time to sleep (he is old enough that he understands you) and then leave the room. That way he learns to fall asleep by himself and that he doesn't need you to be right there.
I can relate to your situation. Remember that you are his mother and that only you know what is right for your child. Don't get overwhelmed with what your child is "supposed" to do. Follow your heart and only fix what you think needs to be fixed.