So I've come to terms with the fact that I am incapable of putting my child into his own bed. It is what it is, I get horrible sleep when he's in bed with me, but it's wayyyy worst when I try to put him in his crib. I currently have a king size bed and the perfect solution to my problem would be a king and a half size bed. Some nights I wake up in a pool of sweat because DH and DS are both on top of me, they're both very cuddly in thier sleep lol, I am not. Do they make a product that is like a bed that attaches to a bed? Or can I convert his crib to attach to the bed? Pretty much I need to add a bed to my bed, because I need to physically be able to touch him at night or I can't sleep. Anybody have any ideas? Thank you ladies for all your help and for putting up with my craziness.

ETA: I forgot to mention that my bed is 34" off the ground.