We started co-sleeping for the same reason as you, DS sleeps better with us. And my DH loves cuddling him to sleep at night.

DS 2 years sleeps with us, he sleeps between us sometimes under blanket which he then kicks off anyway. He slept in bassinet beside my side of the bed until about 8 months, he was prem so very tiny, and when he woke id move him next to me and throw the blanket off of us to avoid chance of suffocation. when I was sure he could make a fuss if heavy sleeper DH rolled on him I let him start sleeping between us as I was worried he would roll out of bed since he was getting bigger.

I'm at the point now that we aren't sure what to do as I am preg with #2, and we wouldn't mind continuing co-sleeping but worried how DS will handle newborn with us in bed. We are planning on upgrading to king size bed so that should help the lack of space. And I suppose #2 will start off in bassinet anyway. We plan to buy DS a 'special' bed before new bub gets here and offer it to him in case he would prefer his own bed but won't force him.

To keep warm in the cold we basically use the heater or dress warm because chances are DS will kick off blanket anyway. Most nights he ends up on top of the blanket upside down.

For day sleeps I put him in whichever room will be the coolest which is usually his, but other times if we have naps together I have him in our bed surrounded by pillows.

If you are not sure about co-sleeping google the benefits for bub helped me ease my mind when people who know nothing about co-sleeping pop out with ridiculous assumptions like 'the baby will be too clingy if you let them in your bed' etc