Co-sleeping question

Me

No negative comments please. I know everyone has different opinions and I am a FTM so I am just trying to figure out what is best for my baby and I. My son is 4 weeks old and has slept in a sleeper similar to the rock n play since we brought him home. He does okay in it and that’s what we put him in for naps and sleep every time. The past couple days there were a few times when I was so exhausted that when he started crying I put him in the bed with me in between my chest and arm at my side and we ended up falling back asleep. It scares me because I of course don’t want anything to happen to him. But he seems to sleep so much longer and better when he’s next to me. I’ve tried doing research on safer options for if I chose to co-sleep but I haven’t really found any great advice. So I was wondering if anyone had an advice or could tell me how they sleep with their baby. Thanks in advance!