T.M.
I dunno... I do understand about wanting your bed to yourselves (I have struggled with this too!) but little babies are only little for such a short time, and at 9 weeks they do not know and cannot learn how to self-soothe. That milestone comes around 4 months old. Your baby will only be so small for such a short time -- and if everyone's sleeping better with him next to you, I say go with it.
if you're all NOT sleeping, then help him transition by adding something to the sleeping arrangement that will stay the same in the bassinet/crib. ie a swaddling blanket. Also, start laying down with him awake and be there until he falls asleep, so that he practices falling asleep laying down rather than in your arms.
hang in there!
T.