Vmama - until a couple of weeks ago, we were doing very similar thing with DS (now 7 weeks) - he would doze on me or DH all evening til we went to bed (around 11-12), when we'd change and feed him then put him in his crib.
One evening, around 9.30, when he was due a feed and looking suitably dozy, we decided to see if he'd go down in his crib. So we took him into the bedroom and went through our short bedtime routine (dim lights, change into sleepsuit, feed on bed, pop into crib) and he went for it straight away.
Since then we have moved his bedtime slightly earlier as he gets tired sooner now he's more awake during the day. Now he goes to bed sometime between 7.30 and 8.30 depending on how tired he is (which depends how well he's napped during the day). If he doesn't settle straight away then I go back in, offer a bit more boob, back in crib and out of the room again. (So far this has never taken more than 45 mins or so to get through, and usually less - tonight it was 10 mins.)
Sounds like you could try this with your LO - look for his tired signs before he'd normally drop off at 8pm, then take him to room with lights dimmed, change, feed and put in hammock.
Having said all that... FSIDS' current advice is to have baby sleeping in the same room as you at all times. So if you are happy with your situation, there's no reason to change it. We only did it 'cause DS would only sleep on us in our front room usually, which was a pita and meant he got disturbed every time we moved - and we had to take turns eating dinner! We have got a video monitor hooked up to his crib so we can keep a super close eye on him.
Sorry for uber-long post but hth!