hiya anna, those night time snuggles are beautiful aren't they. you sound like you are really enjoying them. i co-slept with all 3 of mine and they all slept differently. 1 thrashed around the bed getting comfortable, one would crawl upsidedown and sleep between us that way and one went in the middle and didn't move except for breastfeeds. i guess at 6 weeks you are all getting to know each other and learning to sleep together, i certainly don't think you are disturbing his sleep he would probably wake as frequently if not more frequently if he were no sleeping with you. i would give it time, you will all get in sync eventually and have a more peaceful night knowing your bubba is within easy reach to respond to when needed. good luck
beckles