Hi whitebeaches,
Not sure if I can help but I can tell you some of the things that we did.
I don't sleep well with a little one in our bed once they start rummaging about so at that point i would rather ours were in their own bed.
Do you go back to your own bed once he's fallen asleep. That's what we used to do.
Have you got a camp bed that you could fit at the side of your bed?
When ours woke up and wandered into our bedroom they knew they could get into the camp bed as long as they stayed quiet and went to sleep, otherwise they would have to go back to their own bed. That worked for a couple as they just wanted to be near us.
We have also got into the child's bed until they've dropped off to sleep. Whether that was the beginning of the night or during the night. We took turns at that so that one of us would get a night's sleep.
Other variations - we still have the cot up in our room for our now 5yo to get into if she feels the need.
We found that our children did grow out of needing to be with us all the time and got used to being in their own bed without us having to be harsh when we knew they were uneasy being away from us.
Entirely up to you whether you let him back in your bed. If you're comfortable with it, why not? I preferred my space as they got older.
Of course, as they got older we knew when they really were just pulling delaying tactics before going to bed and so were somewhat firmer. But that was when they were older than 3yo and it was dependant on the temperament of the child.
HTH in some way.