We cuddled DS to sleep, and occasionally co-slept when he was really unsettled, until he was about 14/15 months old.
And I was a lot like you - not disliking the cuddling, but wondering when he will learn to sleep on his own.
Then all of a sudden he just wanted to be put down in his cot - he would arch his back and stretch out of my arms until I would just put him down, say goodnight, and leave the room. And he just goes to sleep on his own now, not a peep is heard from him!