My Dearest J.,
I am laughing only because, he will always want to be in your bed. And if you sleep in his bed, he will be in his bed. And if you sleep on the couch, he will come find you and sleep there too.
I am going through this with my 3 year old. Same things exactly. My daughter, 2, doesn't seem to have an issue with it however, but she does cry for me to lay down with her in her bed.
He simply wants to be with you. Last night, both my children slept in my bed. It never fails. When I wake up, they are there. Just think of them as little puppies without the fur.. lol! :O) It's really not a big deal as far as him and development. I tried to get in my parents bed well after age five and I still talk with people whose older children do the same.
It's normal and natural.