Not good for their teeth if they sip on a bottle to go to sleep.
Can you move bottle to earlier in the bedtime routine? Maybe bottle, then bath, then story or whatever you normally do. I think this will be tricky with a 2 year old though... are you against crying? If not then this is a gentle version which worked for us, although my DD is younger. I got it from my local library.
I know if I carry on his teeth will suffer, although it is only milk so not that bad at the mo. I want to move away from a bottle altogther. He is a good sleeper, and doesn't ask for his bottle if he wakes during the night.
We had this, although DD finished the milk before goin to sleep. We changes the routine around a bit so she wouldn't know there was something missing. Now we give her a cup of milk with the bath so her tummy's fullish, and then have a story to settle to sleep. It worked fine, actually, but she was a bit younger. We also put an any way up cup with water in in her bed so she would have a drink to hand if she was thirsty in the night. Good luck!