J.N.
We let out kids sleep in our bed with us when they were little. Around 18 months or so, we would start putting them in their own bed once they were asleep. They would wake up in their own room. Sometimes when they woke up during the night, they'd come in to us. That still happens occasionally with our two youngest (8 and 5). Often I can just redirect them back into their bed, or just let them cuddle for a few minutes before sending them back.
There is no crying at bedtime. Now (and for the past year or more) all we've had to do most of the time is tell them it's bedtime, and tuck them in (sometimes they try to delay - as most kids for their age do, but we just stay firm and tell them to go to bed. Still no bedtime fighting). They go to sleep on their own.
I think in our society that we are too eager to push our children into independence. There's nothing wrong with letting your baby sleep in your bed for a while longer, unless you or your husband have a condition that makes it more likely for you to roll on him (very deep sleeper, meds that make you sleep deeply). At least, you can let him fall asleep in your bed and then gently move him to his.