hi M.,
sorry if my response is redundant - your guy sounds like he has the same sleep habits as my lady (the same I had as a babe, I am told). also, in case you don't want to read my novel (below), just know that it will get better and you will sleep again. I genuinely thought there was no way I would ever get my daughter out of our bed and I never thought she would go to sleep without my help. I got pretty desperate. At 14 months,she sleeps in her own bed in her own room and rarely cries or fusses when I put her down. He will, too.
here's my story...
we co-slept until she was almost 10 months. I wanted to stop sooner but i didn't want to cry it out, and I couldn't find another solution that worked. (I read Dr. Sears, The No-Cry Sleep Solution and Happy Sleep Habits, Happy Baby - as well as tons online). I was actually going to bed with her at 8PM and sleeping next to her - she awoke and I put her back to sleep in a similar way to how you are soothing your son.
At about 91/2 months, I cracked - I couldn't take it any longer. She had also matured to a point where I felt she would understand that I had not deserted her, that I was in the next room, she was safe and this was something that she had to learn for herself. We replaced her co-sleeper with a crib and put it next to our bed. I established a rigid, specific bedtime routine (same words, order in which we turned off the lights, etc.) and I let her cry it out - I did the modified 5 minutes, 10 minutes, 15 minutes for awhile until I found that when I would check on her, she would get more upset. then I let her cry/scream. It was awful. More than one night she screamed for 3 hours off and on. Then for several weeks she would sleep sitting up. All in all it took about 4 weeks but after that she would go down easily and willingly. I definitely never felt like I was "breaking her spirit" or that she felt deserted or that I was breaking the attachment we had formed.
I don't think I could have done it any earlier. When I tried it at 6.5 months, it was impossible and felt really really wrong. And I wasn't consistent because I couldn't commit so it was also confusing for her and for me.
So from months 10 - 12.5 she slept next to our bed till we went to bed and then, like you, I brought her into bed with me. We stopped this by going on vacation. When we came home, we moved her crib into her room. It actually went really well and was really easy. I think she slept better than she ever had and I got 4 uninterrupted hours of sleep for the first time in over a year. That's where we are now. Our next challenge is weaning...
Good luck with everything!