Question for co-sleeping mommies!

I co-slept with my son until he was about three months old. Now he sleeps in his crib a lot but I miss sleeping with him. The only problem is, I don't know exactly how to go about sleeping with him now rolling over and moving a lot in his sleep. When we try to put him in bed, I'm not so much worried about one of us rolling onto to him, I'm worried about him rolling into us or moving in his sleep. I still want to be able to sleep comfortably too. Any tips? He's four months old.

We try letting Dd sleep with us occasionally, and it always ends with us putting her back in her bed. Shes just waaay too active in her sleep lol.

So, instead what we do is a cuddle time before bed. I miss the closeness too.  

I never had to deal with the because for one, my lo was like permanently attat hed to my boob, and I also slept with my arm around her. I did start putting a pillow on the other side of her, too. You could buy a bed rail, that would help with things, too.

My daughter uses my arm for a pillow and I curl up around her. When I sleep with her she doesn't roll around as much because she likes to stay close to the food and heat source, lol. I have a long body pillow down my side of the bed now that she's 13 months, just in case. She almost never rolls away from me though.

DS does not move away from me...he cuddles up close and stays there

I coslept with all my kids - the only time I needed to buy a crib rail was with my 2nd daughter. My first fell off the bed once when she was 14 months.... & my second when she was about 12 months then I bought a crib rail. My 6 mo old is part cosleeper/part crib sleeper. I had my hubby move her crib to our room in hopes of getting her to sleep in there