From my bed to co-sleeper? How?

Mandy • I am 34 pregnant w my second. A baby boy. My daughter, who is 4, was born a preemie and thus I'm a NICU Mom.
My guy won't sleep in his co-sleeper. 
He got to big for his rock and play which he used to sleep in until last December. He tends to spit up so that worked for us. 
Somehow it's got to the point he sleeps next to me in bed. He has never liked his co-sleeper. His hands touch the sides and he wakes up. He's too old to swaddle. He grew so fast and he's grown out of the rock and play according to my husband. Maybe we should go back? 
I really need help on what to do. 
He wakes up to nurse all night when he used to sleep through the night until he turned four months. But I could return him to his bed and he was fine. 
I want to comfort him and make him feel safe but this isn't ideal for me. I don't even like to talk about it. Please anyone help? 
Thank you. 
In the photo you can see part of the cosleeper and his baby soother. All this I imagined would work for him. But hasn't.