My MW gave me really good safety advice on co-sleeping advice, don't know if you are still in touch with yours or not? There are some cases where they advise NOT coo-sleeping, the main one having a smoker in the house but might be worth checking with them.
In essence it was the baby must have its own section of the bed away from any pillows, sheets or duvets. So in my double bed, DH sleeps on one side, I sleep in the middle and baby sleeps to my other side, in a sleepsuit and grobag (was swaddled until big enough for grobag).
In the winter, DH had the duvet half on him, half on the floor on the other side, so no risk of overlap, I wore tracksuit bottoms and a knitted cardi (undone) up top and socks to keep warm. I used one pillow doubled over to make a head sized pillow rather than have my pillow extend towards where the baby was sleeping.
I was worried I'd roll onto the baby so MW told me to sleep on my left side (facing baby) with my left arm out over babies head- in effect keeping me still as you can't roll over onto your arm, iyswim
The main issues were baby being suffocated and baby getting too hot.
When he got a bit older we also then had to think about baby rolling off the bed. To fix this we got a IKEA Gulliver cot (one side is removable) and DH sawed about an inch off each leg so the cot mattress was exactly the same height as the mattress. DS now rolls forwards out of the cot onto me, feeds and rolls back like a roll on roll off ferry 