Cosleeping.... With a 3 and 4 year old...

I have two boys, ages 3 and 4.... And they sleep in my bed on an almost nightly basis.

My 3 year old sleeps in my bed every night, my 4 year old is put to bed in his room but ends up coming into my room in the middle of the night. I know some people think its bad that they sleep in our bed, but I just don't have the energy to put them back in their room multiple times a night, so I just let them sleep in our bed.

We are TTC #3 and my DH keeps telling me we need to keep our son's out of our bed because he doesn't want to have them in our bed as well has the new baby. But he never helps me with them in he middle of the night. He just moves them over so he can fit in the bed. My 3 year old is a MAJOR momma's boy!! Its soo bad that he freaks out whenever I go to the bathroom or take out the trash without him! It was cute when he was 1 and barely walked, but now its just annoying. And when he's sleeping, he HAS to be touching me whether its with his foot, leg, or hand. Does anyone have any tips on how to keep my boys out of my bed? I think it would be better to try to get them out before I get pregnant and get even more lazy and tired to try.