We have been co-sleeping since DD was 9mths old and started hating her cot! In order to get some sleep rather than being a zombie up every 1-2hrs we decided to co-sleep full time after doing it here and there some nights. So she was in our bed in the middle of us but as she grew bigger and longer she now takes up waaaay too much room and was kicking us in the head etc!! All night....
A week ago we decided to move her into her cot (hoping to gradually get her in her own cot full time and then out of our room in her own room ...gradual process... probly take mths.. altho we joke she probably will still be in our room when she's 12 )

Anyway she now is in her own cot...pushed up against our bed with cot side off one one side and her mattress level with our mattress. It's been great!! I can BF her and she just rolls back over her side and goes back to sleep.... (most of the time). She's a frequent waker so we had no choice but to do this for our survival and now we have our bed back!!!!! And more space and I can finally sleep next to DH! haha

As they get bigger it gets easier. We were always scared of rolling on DD in the early mths we too hardly slept with her it was way too scary. And I found it so uncomfortable sleeping with my arm out facing her etc... it was limiting to a good nights sleep. So ikwym... but now that your little guy is 11mths.... he'll tell you if you are squashing him

GL