Feeling like a bad mom...

So my son is four months now, sometimes he sleeps in his crib but MOST of the time he sleep with me, he's been sleeping with us in the bed since he was a month.. My family always makes me feel bad about it. He's never unsafe, I always have him in the middle and in clothing so I don't use a blanket for him in case of SIDS and he's far from our pillows.. I know moms cosleep just I feel like I'm a bad mom... My little one loves sleeping with me and I kinda like it too, helps me sleep when I know he's near me and ok.. I just feel again like I'm doing the wrong thing..