Colleen I am glad reading this has made you feel less guilt about taking him to bed with you, there is a great book called "nighttime parenting" by Dr Sears, he is a paed very pro co-sleeping, you might be abel to find it at your library or ABA if you are a member? It talks about all the advantages, I like you started it because it felt good and it was SO much easier BFing!
Just to let you know I now put Felix in his cot when he has day naps and for the first sleep of the night then he's in with us, he's happy in his cot (still in our room) and also happy with us, it is for safety because he is now crawling.