K.N.
There is NO SHAME in trying to get the house some sleep!
My almost 4 year old does almost the same thing. He wakes and comes to get in me but crawls in bed with me. Not saying this works for me or will work for you, but kids are smart. I just try to show him: Last night you were out of bed 3 times and you are very cranky today. Try to stay in your bed all night so you can get good rest and have a better day tomorrow. See, you slept all night long and are having a great day!
Anyway, everyone needs rest to function and DO NOT feel guilty for trying to deter this behavior!