Macari is still little so probably a lot different than your son but I do lay her in the bed by herself if she's sleep. One side is pushed against the wall and I put pillows on the other sides just in case she rolls. If I'm laying with her I usually just maneuver out from under her then go to sleep. If she falls asleep on a couch I usually just lay her in the bend of my arm with my arm draped around her and we sleep like that. In the beginning I did hold her until I got tired but she got use to that and wouldn't sleep without me holding her but she seems to be fine not doing that now.
I thought the point of co-sleeping is falling asleep at the same time and together and waking up together so the baby feels safe and never alone?
https://blog.ergobaby.com/2008/12/bed-sharing-co-sleeping-or-separate-sleeping/Recently, there has become a clear distinction between co-sleeping and what experts now refer to as bed-sharing. In order to decide what is best for your family, it is important to know the difference.
According to Attachment Parenting International (API), the definitions are as follows:
“Co-sleeping refers to sleeping in ‘close proximity’, which means the child is on a separate sleep surface in the same room as the parents.”
“Bed-sharing, also called the ‘family bed’, describes a sleep arrangement where the family members sleep on the same surface.”