I have the same thing going on here as well.
My DD is 7 weeks old and perfers sleeping in her bouncer chair or cuddled into myself or her daddy.
Every night after her 11pm feed i put her down in her basket while half asleep and she'll sleep until 3-4ish but then wont settle back in her basket after her feed, so after a lot of trying i end up putting her in my bed on my side, i lie on my side with her in my arms cuddled into me and she then sleeps until i get up just before 8am.
My Dp dont like it because he's a deep sleeper (he dont even stir when she's screaming at 3am unless he's just pretending so he dont have to get up ) so he worries that he might roll on her which is why i keep her on the outside of the bed.
My Ds was the same until he was about 6 months and i put him in a cot and he slept straight away, maybe it was the extra room or maybe it was because he was eating and drinking more so was more content at night, i dont know but i enjoyed having more bed room although i did miss him a little
He is now 9 and bed-sharing had no bad effects on him so i know DD will be ok and she'll get there one day.
I wouldnt worry about other peoples comments, he's your child, its your situation to deal with when you feel ready to not when they feel like it.
Congratulations on the new baby, good luck and just enjoy the cuddles while your still getting them
My Ds is too old for cuddles now apparently