Toddler fighting bedtime

Any tips for a toddler fighting bedtime. 3 year old usually goes to bed without issue but sometimes he wants me to stay which I can’t because I have a one year old to entertain/put to sleep or when I stay he starts talking. Sometimes comes out multiple times asking for additional milk or to pee. Gets frustrating and I don’t want to get upset with him but I need a nice way to handle it. Sometimes I say “it’s not talking time, it’s sleeping time” but I don’t know that’s a good statement. I don’t want him to think I don’t want to listen. Help!!!!