If it works for you, it works for you.
My family has a very unorthodox sleeping arrangement due to the needs of our two youngest (ages 1 and 2). It's temporary...and we are giving them what they need. Our 6 year old sometimes wishes a grown-up would sleep with him (we co-slept until he was FIVE) and I have told him that in about a year, we have have some family "sleep overs" and some Mommy/Daddy sleep-overs (with just him:). We have all ready had one brother "sleep over" (the 6 yo and the 2 yo shared a bed and slept WELL).
Kids like having their parents close. It's not ALL that long ago that sleeping alone for a child may have meant being eaten by a tiger....and I DO think that desire to have us close is HARDWIRED in. It takes a rational mind to get past that...and we're talking about little kids.
SOOOO - with all of the changes, it make sense that he'd NEED that sense of comfort and safety right now!
I know PLENTY of Moms who "never" co-slept, but who spent many nights on the floor of their child's room. Honestly, for sleeping....whatever works!