Dee I don't think it is a bad habit at all.... and if in the future the sleeping arrangements arent working for you, then it shouldnt be too hard to change them.
Aidyn would end up in our bed more often than not, and I would worry that it was going to be hard to break the habit. But for ages we loved his time with us in bed, and then when he got too big we moved the cot next to the bed (with the side off) so he could still be next to us,.. then put the side back on the cot when he became very mobile,... and then eventually back into his own room. Doing it in stages seemed to work really well for us.
I say to enjoy this sleepy/cuddly time with him in the mornings... it certainly seems to be working for him by the fact that he is sleeping longer!