**I just wanted to edit my response really quick since someone after me brought up another point that previously hadn't come up (that I had seen). Co-sleeping does not interfere with intimacy between a husband and wife. There are ways to have privacy without children included and enjoy being together just as often as anyone else who doesn't co-sleep. Neither my husband nor I feel like our personal intimate relationship is damaged at all by it. We definitely have our alone time and time for each other quite regularly. I found it to be a rather interesting comment to assume that intimacy would be different or less often or such for those who co-sleep.
I think it's up to each family to do what works for them regarding co-sleeping. Just because one family is for it doesn't mean it's for everyone. It also goes vice versa. Just because someone adamantly is against it doesn't mean that it's wrong for everyone else. We should each do what we feel is the right thing for our own situations. Anyway, just wanted to add that.**
Brady is still super young and it seems pretty normal for him to want to sleep with you guys (whether or not you'd had another baby). Then again, I probably come from a different point-of-view! My dd slept with is from the beginning. Now we put her to sleep in her bed, which is in our room. Luckily we have a really large room, so this has been easy to do. Our ds (14 months) sleeps in our bed and my 1st is just now learning to stay in her bed all night long. She is still in our room, though. When our ds is old enough, we plan on moving them out of the room together. I'm sure some people must read this and think how strange we are! haha! But I actually know a TON of people who do things very similar. I think it is much more common than it seems. Point being, the fact that you have this issue is actually pretty normal;-) (just in case you were feeling bad at all!)
Anyway, I would stop having him watch TV on your bed (ever, if possible) and definitely stop having him watch TV on the bed before he goes to sleep. I've heard this can actually make it more difficult for them to sleep, but I can't remember what the reason was.
If you feel like it's time for him to be out of the bed, start putting him to bed in his bed and do not let him sleep in your bed anymore. Explain things to him and be loving and caring, but you might have to be firm and just force him to sleep in his bed. If in the end you really don't mind him sleeping in your bed, then keep it up. But if you want him out, definitely don't let him sleep there anymore. It'll probably be hard at first as he transitions (he'll probably cry a lot and get really upset and might take longer to get to sleep, etc), but I'm sure he'll adjust when he realizes that is how it's going to be. When kids are adjusting to something new, it seems to take about 3-4 days of them being upset but then they are okay. You also have the option of moving his bed into your room and having him go to bed there to make the transition more smooth. But then you'll be faced later on with how to move him out of your room!
Oh, and with the naps, my only suggestion is to get a lot more routine in making sure he gets to bed when he's supposed to. He might take a while to fall asleep, but hopefully he'll adjust to it over a few days time.
I have no idea if anything I said I was helpful or even made sense! I think you've done a good job trying to keep your ds feeling involved and loved. Hopefully you'll be able to adjust things so that you feel more okay with it all. Good luck to you!!