My DS is the same. He's 20 months. He usually falls asleep on my lap while having his bedtime milk, then I put him in the cot (at which point he's fast asleep). If he isn't asleep at that point, it takes me ages to settle him. I keep lying him down and I stay with him, holding his hand and stroking his head, till he finally drops off.
He then wakes several times in the night, and I just bring him into bed with me. I find that this is the best way for both of us to get some sleep!
I tortured myself with guilt over this for ages, worrying that I'd never get him to sleep alone etc. But now I've just accepted it. He's a very cuddley little boy who clearly likes lots of physical contact. If it makes him feel better and happier, then that's good enough for me. After all, it won't last forever!
I got so sick of people telling me it was a bad idea, I just don't tell people any more. I'm a single Mum, so there's no-one else to discuss it with.
My DS doesn't rule the house. I make the major decisions - what we eat, where we go, when we do things etc. I just let him have his own way when he wants to cuddle up to his Mummy at night-time. Not a crime surely?