Mate, it can take years. Pushing it can damage your bond, and a strong, secure attachment between you and your baby is the single most important thing for your child's development. In comparison, the way your baby sleeps doesn't matter at all.
Do you use a sling or baby carrier? If not, get a good one and wear him through the day, it's the easier way to cuddle and keep them close. Feed him to sleep, cuddle him, lie down next to him on the bed, whatever works best for him and is least effort for you. It will all change with time.